Ethercat HAL driver

chimeno
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6 years 8 months ago #157748 by chimeno

Replied by chimeno on topic Ethercat HAL driver

The EL2521 has four different variants:
EL2521-0000, EL2521-0024, EL2521-0124, EL2521-0025
download.beckhoff.com/download/document/...rminals/el252xen.pdf <= English version
download.beckhoff.com/download/document/...rminals/el252xde.pdf <= German version

Are these four versions identical regarding their software driver ? Or should I pick a certain one ?

Hello @mh , according to the manual they seem the same except that the outputs are different and you will have to choose the one that suits you, I do not think you have a problem with any version

And has anybody tried the two channel EL2522 perhaps ? Or are they not supported yet ?

EL2522 there is no driver in linuxcnc-ethercar, you will have to use the generic one, I don't have it but I don't think I have problems with both channels.

regards
Chimeno

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jirkam
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6 years 8 months ago - 6 years 8 months ago #157759 by jirkam

Replied by jirkam on topic Ethercat HAL driver

Please don't have a .xml file for EL4004? I still have EL4004 "PREOP".
Other modules I have "OP"
I have read the instructions in my language and it is beyond my possibilities.
Thank you very much.

Last edit: 6 years 8 months ago by jirkam.

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chimeno
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6 years 8 months ago #157902 by chimeno

Replied by chimeno on topic Ethercat HAL driver

Hi @jirKam,
Just add this line.

Code:

<slave idx="1" type="EL4004" name="EL4004"/>

greeting
Chimeno

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jirkam
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6 years 8 months ago - 6 years 8 months ago #157903 by jirkam

Replied by jirkam on topic Ethercat HAL driver

Hello.
In the .xml file I have:

Code:

<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
    <slave idx="0" type="EK1100" name="EK1100"/>
    <slave idx="1" type="EL1819" name="DIN1"/>
    <slave idx="2" type="EL1819" name="DIN2"/>
    <slave idx="3" type="EL2809" name="DOUT1"/>
    <slave idx="4" type="EL3064" name="AIN"/>
    <slave idx="5" type="EL4004" name="AOUT"/>
    <slave idx="6" type="EL2622" name="RELE1">
       <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-25000"/>
    </slave>
   </master>
</masters>

but for EL4004 I'm still in PREOP mode. The other modules are OP.
And I do not know why.

For compilation I gave:

Code:

cd linuxcnc-ethercat
sudo make clean
sudo make -j4
cp src/lcec.so ~/linuxnc-dev/rtlib/
sudo make install

Everything went without error.

I thought you needed to sign another .xml file.
Like this:

Code:

https://docs.google.com/document/d/1GiB065ZIAaoMHPtVfTg9JV1Kn-19xGQl2X9DM9-THNM/edit

Thank you.

Last edit: 6 years 8 months ago by jirkam.

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chimeno
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6 years 8 months ago #157933 by chimeno

Replied by chimeno on topic Ethercat HAL driver

Hi @jirKam,
EL2622 is a relay output device does not require DC mode, can you try it again?

Code:

<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
    <slave idx="0" type="EK1100" name="EK1100"/>
    <slave idx="1" type="EL1819" name="DIN1"/>
    <slave idx="2" type="EL1819" name="DIN2"/>
    <slave idx="3" type="EL2809" name="DOUT1"/>
    <slave idx="4" type="EL3064" name="AIN"/>
    <slave idx="5" type="EL4004" name="AOUT"/>
    <slave idx="6" type="EL2622" name="RELE1"/>
   </master>
</masters>

without or it works, you can pass me the linuxcnc-ethercat folder to see how the EL4004 controller is described.
Greeting
Chimeno

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jirkam
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6 years 8 months ago #157936 by jirkam

Replied by jirkam on topic Ethercat HAL driver

Hello.
Still is PREOP.
This is a test version.
The final version will be:

Code:

<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
    <slave idx="0" type="EK1100" name="EK1100"/>
    <slave idx="1" type="EL1819" name="DIN1"/>
    <slave idx="2" type="EL1819" name="DIN2"/>
    <slave idx="3" type="EL2809" name="DOUT1"/>
    <slave idx="4" type="EL2809" name="DOUT2"/>
    <slave idx="5" type="EL3064" name="AIN"/>
    <slave idx="6" type="EL4004" name="AOUT"/>
    <slave idx="7" type="EL2622" name="RELE1"/>
	<slave idx="8" type="EL2622" name="RELE2"/>
	<slave idx="9" type="EL2622" name="RELE3"/>
	<slave idx="10" type="EL2622" name="RELE4">
       <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-25000"/>
    </slave>
    <slave idx="11" type="DeASDA" name="X">
       <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-25000"/>
    </slave>
    <slave idx="12" type="DeASDA" name="Y1">
       <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-25000"/>
    </slave>
    <slave idx="13" type="DeASDA" name="Y2">
       <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-25000"/>
    </slave>
    <slave idx="14" type="DeASDA" name="Z">
       <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-25000"/>
    </slave>
    <slave idx="15" type="DeASDA" name="A">
       <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-25000"/>
     </slave>
   </master>
</masters>

Thank you very much.
Jirka

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Ethercat HAL driver