Wago 750-354 EtherCat FC and IO modules

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3 years 10 months ago #259793 by byunchov
Hello fellow hobbyists and machinists! 
I am reaching out to you for a little help (guidance) with integrating Wago 750-354 EtherCat Fieldbus Coupler into my upcoming cnc project.
I have been playing around with this coupler for the past few days and managed to figure how to interface it via TwinCat. I tried writing generic slave in LCEC configuration file but the device never goes past the PREOP state. 
I am aware that most of Beckhoff's IO modules and couples work out of the box with the latest version of LCEC, however it's very hard for me to find them in my country and not only here. I have a friend that is distributing Wago controllers and components. He provided me with a small test set of 750-354 coupler, 16 channel DI and DO interfacing modules. As of right now this is the most viable option cost and time wise. One of the official distributors of Beckhoff for the region gave me delivery term for more than 6 months.

I used the XML ESI file from the official Wago website . 
My guess is that I probably would need some kind of SDOs but honestly I have no idea how to derive them. Every idea is much appreciated.

I would like to apologize if there's similar topic in the forum.

Best regards! 

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3 years 10 months ago #259808 by db1981
if you can provide an working Twincat Configuration (prefered TC2) in can take a look, how extensive this task will be.

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3 years 10 months ago #259809 by byunchov
I have attached the TwinCat 3 project and the test LCEC configuration file that I have used. I tried to convert the project from TC3 to TC2 but they seem not to be backward compatible. When I start LinuxCNC with the LCEC configuration the slave flag in ethrelab is 'E'.

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3 years 10 months ago #259819 by db1981
do a test with this,
copy the initcmd file in the same folder as the ethercat-conf.xml

this is created for one 16bit input and one 16 bit output module.

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3 years 10 months ago #259820 by byunchov
I have tested the setup with the provided files and there is no visible change in the behavior. It's still in PREOP state and the flag is 'E'. There were some errors in the ethercat-conf.xml - there is no s16 and u16 HAL data types in the current lcec_conf as far as I can tell, and there was a typo in initCmds, should be capital 'C'. 
Would you mind sharing how you came up with the initCmds file?

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3 years 10 months ago #259828 by db1981
oh, has to be s32 and u32..

startup cmd has been created by twincat after adding the coupler and assign 16 bit input and output to slot 1 and 2.

please post "ethercat pdos -v" output from the slave,
and output of dmesg after lcnc start , with ethercat debug level set to 1 ("ethercat debug 1" .

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