Ethercat with EL6751 CanOpen Master and JAT Servo Drives

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23 May 2020 08:08 #168658 by purged
Just a quick follow-up to my attempt at controlling ESTUN servo drives via CANopen:
I think it's not possible with LinuxCNC and Beckhoff EL6751. The drives have volatile parameters like mode of operation. I would have to configure it to 'position mode' at every start. That'd be done via SDO which Beckhoff only allows via their proprietary AoE mailbox system, which is not implemented in etherlabmaster. So next I'll probably try and talk to the drives directly with a CAN transceiver. Beaglebone Black has 2 of those on board. I don't think there's a hal driver / component for such a setup tho, so it might be too much work for me at the moment. Back to good ol' step / direction :pinch: :pinch: :angry:

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05 Jan 2021 17:30 #194158 by JimPanski
Hi guys,

it has been a while since I could go on try an error this neverending story.
Has anyone else come further with his setup?
I couldnĀ“t get my EL6751 to OP in linux. In Twincat3 everything is functional so far.

Also I wanted to try settings like in this document (page16 -mdp mapping) EL6751_Configuration.pdf
But the thing is: as soon as I scan boxes in TC the "ethercat" tab on the CANopen device goes away. So I am not sure if this is the right direction :/


At the moment I tried even an empty config with no luck (see attachments) :( This works in TC3 with the EL6751 in OP :(
Attachments:

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