Ethercat protocol not responding

I just purchased some used Beckhoff EtherCAT devices:

• Beckhoff EK1100: EtherCAT to E-bus adapter
• Beckhoff EL1904: 4 "safe" input TwinSAFE E-bus module
• Beckhoff EL2904: 4 "safe" output TwinSAFE E-bus module

Once I receive these devices, I will verify that my changes don't break FSoE (Function Safety over EtherCAT). After that, I will work on a pull request to get my changes mainlined...

By the way, the code that guided me on how to get proof-of-concept communication with a Yaskawa servo drive was found here:

Example for Kollmorgen AKD with IgH EtherCAT Master library

I then changed it to work with my Yaskawa drive, the modified code is attached as a tarball. The code is messy as it was for learning purposes only, and all that it is really doing is printing the servo's position to the console. If you rotate the shaft manually you can see it the printed position change, and therefore know that EtherCAT communication is working.

I will keep you guys posted...

fdarling wrote:

I just purchased some used Beckhoff EtherCAT devices:

• Beckhoff EK1100: EtherCAT to E-bus adapter
• Beckhoff EL1904: 4 "safe" input TwinSAFE E-bus module
• Beckhoff EL2904: 4 "safe" output TwinSAFE E-bus module
  
  
  Once I receive these devices, I will verify that my changes don't break FSoE (Function Safety over EtherCAT). After that, I will work on a pull request to get my changes mainlined...
  
  By the way, the code that guided me on how to get proof-of-concept communication with a Yaskawa servo drive was found here:
  
  Example for Kollmorgen AKD with IgH EtherCAT Master library
  
  I then changed it to work with my Yaskawa drive, the modified code is attached as a tarball. The code is messy as it was for learning purposes only, and all that it is really doing is printing the servo's position to the console. If you rotate the shaft manually you can see it the printed position change, and therefore know that EtherCAT communication is working.
  
  I will keep you guys posted...

Hello, would you mind putting your comments and code changes about the yaskawa stuff in here linuxcnc-ethercat
Maybe we can get this also to work in the future.