<html><head></head><body><div style="color:#000; background-color:#fff; font-family:HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, Sans-Serif;font-size:14px"><div id="yui_3_16_0_1_1453205638549_5713">Hi,</div><div id="yui_3_16_0_1_1453205638549_5712"><br></div><div id="yui_3_16_0_1_1453205638549_5711">We bought various Beckoff modules for Digital in , Digital out, Analogue in and Stepper Motor control. </div><div id="yui_3_16_0_1_1453205638549_5711"><br></div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr">I am able to communicate with with the digital I/O and analogue input slave modules from Ethercat master IGH 1.5.2 without problems, but the stepper motor controller (EL7031) is more complicated.</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr"><br></div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr">Below is a list of the PDO entries for the motor controller retrieved from the Ethercat bus using the command line tool with the cstruct option.</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr"><br></div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr">I am only able to set the velocity and then set the enable bit to start the motor running. I have no idea how to command the motor to just turn a certain amount of steps and change direction etc. I have tried to set a counter value but it doesn't make a difference. Also, if I set the bits to move positive or move negative, it doesn't change direction as I would expect. I can't seem to find any documentation or examples on how to control motors with this module EL7031. If anyone has any information or knowledge , I would really appreciate your help. Thanks</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr"><br></div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class="">ec_pdo_entry_info_t slave_6_pdo_entries[] =</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class="">{</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x0000, 0x00, 1}, /* Gap */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x7000, 0x02, 1}, /* Enable latch extern on positive edge */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x7000, 0x03, 1}, /* Set counter */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x7000, 0x04, 1}, /* Enable latch extern on negative edge */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x0000, 0x00, 4}, /* Gap */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x0000, 0x00, 8}, /* Gap */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x7000, 0x11, 16}, /* Set counter value */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x7010, 0x01, 1}, /* Enable */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x7010, 0x02, 1}, /* Reset */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x7010, 0x03, 1}, /* Reduce torque */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x0000, 0x00, 5}, /* Gap */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x0000, 0x00, 8}, /* Gap */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x7010, 0x21, 16}, /* Velocity */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x0000, 0x00, 1}, /* Gap */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x6000, 0x02, 1}, /* Latch extern valid */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x6000, 0x03, 1}, /* Set counter done */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x6000, 0x04, 1}, /* Counter underflow */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x6000, 0x05, 1}, /* Counter overflow */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x0000, 0x00, 3}, /* Gap */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x0000, 0x00, 4}, /* Gap */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x6000, 0x0d, 1}, /* Status of extern latch */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x6000, 0x0e, 1}, /* Sync error */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x0000, 0x00, 1}, /* Gap */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x6000, 0x10, 1}, /* TxPDO Toggle */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x6000, 0x11, 16}, /* Counter value */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x6000, 0x12, 16}, /* Latch value */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x6010, 0x01, 1}, /* Ready to enable */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x6010, 0x02, 1}, /* Ready */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x6010, 0x03, 1}, /* Warning */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x6010, 0x04, 1}, /* Error */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x6010, 0x05, 1}, /* Moving positive */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x6010, 0x06, 1}, /* Moving negative */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x6010, 0x07, 1}, /* Torque reduced */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x0000, 0x00, 1}, /* Gap */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x0000, 0x00, 3}, /* Gap */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x6010, 0x0c, 1}, /* Digital input 1 */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x6010, 0x0d, 1}, /* Digital input 2 */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x6010, 0x0e, 1}, /* Sync error */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x0000, 0x00, 1}, /* Gap */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class=""> {0x6010, 0x10, 1}, /* TxPDO Toggle */</div><div id="yui_3_16_0_1_1453205638549_5711" dir="ltr" class="">};</div></div></body></html>