EtherCAT + EL6751 Configuration

Hello,

since 2 months I try to get LinuxCNC + Intel Corporation 82540EM (e1000 driver in Linux, but DEVICE_MODULES="generic" in /etc/defaut/ethercat) + Beckhoff EL6751 + CAN drive working, but at the moment there is no further movement.

I've Grotius Image installed:

uname -r -> 4.19.0-11-rt-amd64

and configured /etc/defaut/ethercat that way that ethercat slaves -v shows: 

=== Master 0, Slave 0 ===
Alias: 1
Device: Main
State: PREOP
Flag: +
Identity:
  Vendor Id:       0x00000002
  Product code:    0x044c2c52
  Revision number: 0x00100000
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, delay measurement only
  DC system time transmission delay: 0 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0* MII   up    open    yes             -   1485700098           0           0
   1  EBUS  up    open    yes             1   1485700408         310         155
   2  MII   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
General:
  Group: SystemBk
  Image name:
  Order number: EK1100
  Device name: EK1100 EtherCAT-Koppler (2A E-Bus)
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: -2000 mA
=== Master 0, Slave 1 ===
Device: Main
State: PREOP
Flag: +
Identity:
  Vendor Id:       0x00000002
  Product code:    0x1a5f3052
  Revision number: 0x00130000
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 0 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0* EBUS  up    open    yes             0   1402962368           0         155
   1  EBUS  down  closed  no              -            -           -           -
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x1000/532, TX: 0x1800/532
  Standard  RX: 0x1800/558, TX: 0x1a2e/558
  Supported protocols: AoE, CoE, FoE
General:
  Group: Communication
  Image name:
  Order number: EL6751
  Device name: EL6751 CANopen Master
  CoE details:
    Enable SDO: yes
    Enable SDO Info: yes
    Enable PDO Assign: no
    Enable PDO Configuration: no
    Enable Upload at startup: no
    Enable SDO complete access: yes
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 300 mA

What I read so far is, that this not bad, but now I do not know how to continue.

Can someone please tell me what are the next steps to get LinuxCNC drive my motors. At the moment, I do not need detailed steps like a tutorial, but an coarse guide how to go further...

Greetings
Robert


 

Hmm, the coarse guide:

-create an ethercat_conf.xml (linuxcnc ethercat) to map your can-pdos through ethercat-pdos to linuxcnc halpins ....

but this will get an very heavy task, especially setting up the 6751 by manual..

The easyiest way would be to create an working Twincat Config an then export and convert the el6751 pdo mapping and startup commands (config of the can communication) to an ethercat_conf xml.

github.com/sittner/linuxcnc-ethercat/blo.../ethercat-conf_X.xml

forum.linuxcnc.org/24-hal-components/383...servo-drives?start=0

Hello db1981,

thanks for your answer! The links you showed are interesting. I continiued my work yesterday with starting looking at the axis.ini, copied my own one and edited it.

My setup is nearly the same as Jimpanskis in your second link. So i use his ethercat_conf.xml to start playing around.

With the original setup in axis.ini, lcec couldn't get loaded, something like Invalid argument(-22) in rtapi_app. So I changed the list of loaded .hal files, created my own one and tested it. This is like 'Fischen im Trüben', as we call this process in germany, but it goes slightly forward now.

What makes me optimistic is, that now, during starting linuxcnc myaxis.ini the EK1100 blinks like hell and now i can also study the dmesg, because there are lot of messages to analyze during startup of linuxcnc.

A valid TC Config is not available yet, but i will continue work there, too. (My last error is, that the CAN Slaves are not getting a proper NMT?!?)

Greetings
Columbo

Hello Herr Columbo,

I am fishing in the same "trüben Teich".
Just started with the liniuxcnc thing ... my last project was a retrofit of an EMCO 3 axis router runing at MACH4.
Now I want retofit an old TOS with 5 Axis and LINUXCNC....
My equipment so far is a Beckhoff EK1100 and EL6751 (SLAVE), Dell Optiplex i7 SFF and some DELTA Servos (B3M).
The Servo motors are with CANopen so thats why the EL6751 should translate to EtherCAT - right?
Right now I am following tu get further...
Maybe you could give me some advice to get out of the struggle?
Thanks a lot in advance!
Jürgen
Could you share

xylos wrote:

Hello Herr Columbo,

I am fishing in the same "trüben Teich".
Just started with the liniuxcnc thing ... my last project was a retrofit of an EMCO 3 axis router runing at MACH4.
Now I want retofit an old TOS with 5 Axis and LINUXCNC....
My equipment so far is a Beckhoff EK1100 and EL6751 (SLAVE), Dell Optiplex i7 SFF and some DELTA Servos (B3M).
The Servo motors are with CANopen so thats why the EL6751 should translate to EtherCAT - right?
Right now I am following

tu get further...
Maybe you could give me some advice to get out of the struggle?
Thanks a lot in advance!
Jürgen
Could you share

I have similar setup, except I have b3 ethercat servos. But I have el6751, since I wanted to use CANOpen vfd. It is possible quite easy to make it work in Twincat. You just make sure you have CANOpen wiring right - you need 120 Ohm resistors on both ends.

hello,

have anybody solved the el6751 canopen master working over ethercat please?