<html><head><meta http-equiv="Content-Type" content="text/html charset=us-ascii"></head><body style="word-wrap: break-word; -webkit-nbsp-mode: space; -webkit-line-break: after-white-space; "><br><div><div>On Jan 3, 2014, at 9:55 AM, Sebastien BLANCHET <<a href="mailto:blanchet@iram.fr">blanchet@iram.fr</a>> wrote:</div><br class="Apple-interchange-newline"><blockquote type="cite">Dear Dave,<br><br>There are (at least) two kinds of EtherCAT servo drives:<br><br>Type 1: CoE (CAN over EtherCAT)<br>for example: Kollmorgen AKD, Beckhoff AX2000 and Elmo GOLD families<br><br>Type 2: SoE (SERCOS over EtherCAT)<br>for example: Beckhoff AX5000 family<br><br>I think that both are difficult to learn because the documentation<br>is available only for TwinCAT.<br><br>---<br>sebastien<br><br>On 01/02/2014 09:11 PM, Dave Scheinman wrote:<br><blockquote type="cite">After much fumbling around I've successfully managed to get Etherlab up<br>and running and talking to a Beckhoff EK1100 with some Digital and<br>Analog I/O. Ultimately I would like to use Ethercat to control some<br>brushless motors.<br><br>Companies like Advanced Motion Control and Elmo make Ethercat drives in<br>the current/voltage range I am interested, but I am open to other<br>suggestions. Does the Etherlab community have a suggestion on which<br>vendor's drives will provide the most seamless integration with Etherlab?<br><br>The Beckhoff hardware has pre-made Simulink blocks provided with<br>Etherlab but I am unclear how to go about creating these blocks for an<br>arbitrary servo drive. Is this documented somewhere?<br><br>Thanks!<br>~dave<br></blockquote></blockquote><br></div><div>I was able to get Copley Controls AE series drives working for a client in only a few days a while back (Etherlab master 1.5.0/1.5.2) with the CANOpen documentation and some EtherCAT app notes available from Copley's web site, plus a couple of phone calls to their techs for clarification. Ran 4 axes successfully using the Etherlab user example as a starting point on a PREEMPT_RT patched 3.x Linux kernel.</div><br><div apple-content-edited="true">
<div style="color: rgb(0, 0, 0); font-family: Helvetica; font-size: medium; font-style: normal; font-variant: normal; font-weight: normal; letter-spacing: normal; line-height: normal; orphans: 2; text-align: -webkit-auto; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px; -webkit-text-size-adjust: auto; -webkit-text-stroke-width: 0px; word-wrap: break-word; -webkit-nbsp-mode: space; -webkit-line-break: after-white-space; "><div style="color: rgb(0, 0, 0); font-family: Helvetica; font-size: medium; font-style: normal; font-variant: normal; font-weight: normal; letter-spacing: normal; line-height: normal; orphans: 2; text-align: -webkit-auto; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px; -webkit-text-size-adjust: auto; -webkit-text-stroke-width: 0px; word-wrap: break-word; -webkit-nbsp-mode: space; -webkit-line-break: after-white-space; "><div><div>Tom Nelson</div><div>Consulting Engineer</div><div>Granite Computer Sciences, LLC</div><div>Milford, NH</div></div></div></div><br class="Apple-interchange-newline"><br class="Apple-interchange-newline">
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