Ethercat HAL driver

Hi,

Way back in April 2020 there was some discussion about the EL5101 incremental encoder. I have finally got around to hooking mine up and I am happy to say that it worked perfectly out of the box. However, I am running the encoder on the spindle of the lathe and I need to be able to monitor the index pulse in order for linuxcnc to synchronise motion while threading.

According to the manual (pg 144) the status of A,B and C inputs can be monitored via 0x6010:09, 0x6010:0A, and 0 x 6010:0B . Is it possible to add these pdo's either by twincat or by modifying the el5101 source file?


Kind regards,
Dan

Dan,

Good to see that it worked out the box. I still have been using the 5151's for joint feedback, but want to use the 5101 on the spindle like you are doing so I will be watching to see if you get the index working. I just haven't had time to machine the encoder bracket and physically get the encoder setup on the particular machine that I want to add spindle feedback on as have been working on 2 other setups... otherwise I would be right there with you on the same problem.

Hopefully Albert (Chimeno) or Grotius will help with tweaking the terminal code... as they always help.

Robert

Hello @sqmathlete

The EL5101 driver created by linuxcnc-ethercat does not work with the pulse signals A, B, C directly from the device but a counter is created by software, I think you also have an index pin, I attach a register that creates the driver EL5101

hal_bit_t *ena_latch_c;
hal_bit_t *ena_latch_ext_pos;
hal_bit_t *ena_latch_ext_neg;
hal_bit_t *reset;
hal_bit_t *inext;
hal_bit_t *overflow;
hal_bit_t *underflow;
hal_bit_t *latch_c_valid;
hal_bit_t *latch_ext_valid;
hal_bit_t *set_raw_count;
hal_s32_t *set_raw_count_val;
hal_s32_t *raw_count;
hal_s32_t *raw_latch;
hal_u32_t *raw_frequency;
hal_u32_t *raw_period;
hal_u32_t *raw_window;
hal_s32_t *count;
hal_float_t *pos_scale;
hal_float_t *pos;
hal_float_t *period;
hal_float_t *frequency;

Hello @jc2ktr
I hope your controller is working

Hello @bkt
If you have problems with the device signals or missing registration, you can ask the manufacturer for an update and then record a new firmware using TWINCAT3, I hope it works for you soon


Greeting
Chimeno

chimeno wrote:
Hello @jc2ktr
I hope your controller is working

Greeting
Chimeno

Hi @Chimeno

Yes and no the axis moves but scaling is still off. Its curious if linuxcncs dro has the right scaling/units the travelled distance is off. When the distance is ok the dro's are off.

Made a break for few days, to clear the head and then i go on the problem again.

Greetings Sven

the feed back for my ECT was 0.0125. seems to be working so far.

I am trying to get a EL3054 to work. I am completely new to Linux so everything is a bit challenging. Do I just modify a similar .H and .C file and add in lcec.conf? Does it compile when its run for the first time or do i have to compile myself?