EasyCAT Arduino shield

zmrdko
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02 Apr 2024 22:06 #297473 by zmrdko

Replied by zmrdko on topic EasyCAT Arduino shield

meister wrote:
since i don't want to open a new thread, i'll just ask here:

I have now received my Ethercat Click and I am wondering
if it is possible to control several motors with one EtherCat client ?

Can you specify in more detail, what is your controller and what kind of motors you want to control?
When you decide to use EtherCAT, you will use EtherCAT servo/stepper drives.

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meister
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03 Apr 2024 07:12 #297489 by meister

Replied by meister on topic EasyCAT Arduino shield

i only ever see controls for one stepper per esc and wonder whether it would be possible to control several motors with, for example, an arduino with a lan9252, purely in terms of the protocol

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pippin88
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03 Apr 2024 07:20 #297490 by pippin88

Replied by pippin88 on topic EasyCAT Arduino shield

There are ethercat slaves for two steppers and more.

Examples:
EL7062 2-channel EtherCAT Terminal
Rovix ESD-A6 6-axis EtherCAT stepper drive

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meister
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03 Apr 2024 07:22 #297491 by meister

Replied by meister on topic EasyCAT Arduino shield

ahh, great, thank you very much.
somehow the topic of ethercat is a bit of a challenge for me,
but it will get better

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jjdege
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03 Apr 2024 19:59 - 03 Apr 2024 20:00 #297534 by jjdege

Replied by jjdege on topic EasyCAT Arduino shield

meister wrote:
i only ever see controls for one stepper per esc and wonder whether it would be possible to control several motors with, for example, an arduino with a lan9252, purely in terms of the protocol

the FR400 is a slave that manages 5 open loop steppers with I/O, which can be implemented, to manage a CNC.
Thanks to him the fantastic world of LCNC opened up to me

Last edit: 03 Apr 2024 20:00 by jjdege.

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meister
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20 Jun 2025 08:51 #330557 by meister

Replied by meister on topic EasyCAT Arduino shield

wow, I've had the EtherCat click board lying around for over a year

My problem the whole time was that I didn't have Windows and didn't want to use one.

Now I have found a way to do everything under Linux, i.e. create EEProm from the XML and also flash it via EtherCat, all without TwinCat.

In the meantime I can put my desired config on the LAN9252 and read and write all values via lowlevel spi driver.

only one step is missing to adapt the RIO interface over EtherCat

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Hakan
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20 Jun 2025 09:52 #330560 by Hakan

Replied by Hakan on topic EasyCAT Arduino shield

Can you share how to create the eeprom content from an XML file?

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meister
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20 Jun 2025 10:15 #330562 by meister

Replied by meister on topic EasyCAT Arduino shield

what will you pay me for it ?

;P

Converter:
github.com/synapticon/siitool

eepromtool (write flash):
github.com/OpenEtherCATsociety/SOEM/blob...romtool/eepromtool.c

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meister
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20 Jun 2025 10:23 #330563 by meister

Replied by meister on topic EasyCAT Arduino shield

create:

$ siitool -m  -c -o eeprom.bin esi.xml 
= eeprom.bin generated

check:

$ siitool -p eeprom.bin 
Error, SII probably malformed. No 0xffff at the end found
First print preamble and config
Preamble:
PDI Control: ................ 0x0c80
PDI Config: ................. 0xee42
Sync Impulse Length: ........ 2000 ns (raw: 0x00c8)
PDI Config 2: ............... 0x0000
Configured Station Alias: ... 0x0000
Checksum of Preamble: ....... 0x003c (ok)
Identity:
  Vendor ID: ................ 0x00400000
  Product ID: ............... 0x00000715
  Revision ID: .............. 0x00002ef8
  Serial Number: ............ 0x00000000

Default mailbox settings:
  Bootstrap Mailbox:
  Received Mailbox Offset: .. 0x0000
  Received Mailbox Size: .... 0
  Send Mailbox Offset: ...... 0x0000

....................

      Entry 8:
      Entry Index: .............. 0x60fd
      Subindex: ................. 0x00
      String Index: ............. 64 (Digital inputs)
      Data Type: ................ 0x07 (Index in CoE Object Dictionary)
      Bitlength: ................ 32

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Hakan
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20 Jun 2025 10:52 #330565 by Hakan

Replied by Hakan on topic EasyCAT Arduino shield

Ok, I have seen those.
When you write an eeprom this way and then list the pdos with "ethercat pdos", do you see the ones you expect to see?

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