<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 class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3322"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3324" class="">Hi, (Formatting was wrong on previous post)<o:p id="yui_3_16_0_1_1453211183252_3326" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3328"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3330" class=""> </span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3332"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3334" class="">We bought various
Beckoff modules for Digital in , Digital out, Analogue in and Stepper Motor
control. <o:p id="yui_3_16_0_1_1453211183252_3336" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3338"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3340" class=""> </span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3342"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3344" class="">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.<o:p id="yui_3_16_0_1_1453211183252_3346" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3348"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3350" class=""> </span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3352"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3354" class="">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.<o:p id="yui_3_16_0_1_1453211183252_3356" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3358"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3360" class=""> </span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3362"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3364" class="">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<o:p id="yui_3_16_0_1_1453211183252_3366" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3368"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3370" class=""> </span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3368"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" class=""><br></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3368"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" class=""><br></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3372"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3374" class="">ec_pdo_entry_info_t
slave_6_pdo_entries[] =<o:p id="yui_3_16_0_1_1453211183252_3376" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3378"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3380" class="">{<o:p id="yui_3_16_0_1_1453211183252_3382" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3384"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3386" class=""> {0x0000,
0x00, 1}, /* Gap */<o:p id="yui_3_16_0_1_1453211183252_3388" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3390"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3392" class=""> {0x7000,
0x02, 1}, /* Enable latch extern on positive edge */<o:p id="yui_3_16_0_1_1453211183252_3394" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3396"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3398" class=""> {0x7000,
0x03, 1}, /* Set counter */<o:p id="yui_3_16_0_1_1453211183252_3400" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3402"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3404" class=""> {0x7000,
0x04, 1}, /* Enable latch extern on negative edge */<o:p id="yui_3_16_0_1_1453211183252_3406" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3408"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3410" class=""> {0x0000,
0x00, 4}, /* Gap */<o:p id="yui_3_16_0_1_1453211183252_3412" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3414"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3416" class=""> {0x0000,
0x00, 8}, /* Gap */<o:p id="yui_3_16_0_1_1453211183252_3418" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3420"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3422" class=""> {0x7000,
0x11, 16}, /* Set counter value */<o:p id="yui_3_16_0_1_1453211183252_3424" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3426"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3428" class=""> {0x7010,
0x01, 1}, /* Enable */<o:p id="yui_3_16_0_1_1453211183252_3430" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3432"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3434" class=""> {0x7010,
0x02, 1}, /* Reset */<o:p id="yui_3_16_0_1_1453211183252_3436" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3438"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3440" class=""> {0x7010,
0x03, 1}, /* Reduce torque */<o:p id="yui_3_16_0_1_1453211183252_3442" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3444"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3446" class=""> {0x0000,
0x00, 5}, /* Gap */<o:p id="yui_3_16_0_1_1453211183252_3448" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3450"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3452" class=""> {0x0000,
0x00, 8}, /* Gap */<o:p id="yui_3_16_0_1_1453211183252_3454" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3456"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3458" class=""> {0x7010,
0x21, 16}, /* Velocity */<o:p id="yui_3_16_0_1_1453211183252_3460" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3462"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3464" class=""> {0x0000,
0x00, 1}, /* Gap */<o:p id="yui_3_16_0_1_1453211183252_3466" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3468"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3470" class=""> {0x6000,
0x02, 1}, /* Latch extern valid */<o:p id="yui_3_16_0_1_1453211183252_3472" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3474"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3476" class=""> {0x6000,
0x03, 1}, /* Set counter done */<o:p id="yui_3_16_0_1_1453211183252_3478" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3480"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3482" class=""> {0x6000,
0x04, 1}, /* Counter underflow */<o:p id="yui_3_16_0_1_1453211183252_3484" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3486"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3488" class=""> {0x6000,
0x05, 1}, /* Counter overflow */<o:p id="yui_3_16_0_1_1453211183252_3490" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3492"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3494" class=""> {0x0000,
0x00, 3}, /* Gap */<o:p id="yui_3_16_0_1_1453211183252_3496" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3498"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3500" class=""> {0x0000,
0x00, 4}, /* Gap */<o:p id="yui_3_16_0_1_1453211183252_3502" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3504"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3506" class=""> {0x6000,
0x0d, 1}, /* Status of extern latch */<o:p id="yui_3_16_0_1_1453211183252_3508" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3510"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3512" class=""> {0x6000,
0x0e, 1}, /* Sync error */<o:p id="yui_3_16_0_1_1453211183252_3514" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3516"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3518" class=""> {0x0000,
0x00, 1}, /* Gap */<o:p id="yui_3_16_0_1_1453211183252_3520" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3522"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3524" class=""> {0x6000,
0x10, 1}, /* TxPDO Toggle */<o:p id="yui_3_16_0_1_1453211183252_3526" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3528"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3530" class=""> {0x6000,
0x11, 16}, /* Counter value */<o:p id="yui_3_16_0_1_1453211183252_3532" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3534"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3536" class=""> {0x6000,
0x12, 16}, /* Latch value */<o:p id="yui_3_16_0_1_1453211183252_3538" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3540"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3542" class=""> {0x6010,
0x01, 1}, /* Ready to enable */<o:p id="yui_3_16_0_1_1453211183252_3544" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3546"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3548" class=""> {0x6010,
0x02, 1}, /* Ready */<o:p id="yui_3_16_0_1_1453211183252_3550" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3552"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3554" class=""> {0x6010,
0x03, 1}, /* Warning */<o:p id="yui_3_16_0_1_1453211183252_3556" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3558"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3560" class=""> {0x6010,
0x04, 1}, /* Error */<o:p id="yui_3_16_0_1_1453211183252_3562" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3564"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3566" class=""> {0x6010,
0x05, 1}, /* Moving positive */<o:p id="yui_3_16_0_1_1453211183252_3568" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3570"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3572" class=""> {0x6010,
0x06, 1}, /* Moving negative */<o:p id="yui_3_16_0_1_1453211183252_3574" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3576"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3578" class=""> {0x6010,
0x07, 1}, /* Torque reduced */<o:p id="yui_3_16_0_1_1453211183252_3580" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3582"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3584" class=""> {0x0000,
0x00, 1}, /* Gap */<o:p id="yui_3_16_0_1_1453211183252_3586" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3588"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3590" class=""> {0x0000,
0x00, 3}, /* Gap */<o:p id="yui_3_16_0_1_1453211183252_3592" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3594"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3596" class=""> {0x6010,
0x0c, 1}, /* Digital input 1 */<o:p id="yui_3_16_0_1_1453211183252_3598" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3600"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3602" class=""> {0x6010,
0x0d, 1}, /* Digital input 2 */<o:p id="yui_3_16_0_1_1453211183252_3604" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3606"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3608" class=""> {0x6010,
0x0e, 1}, /* Sync error */<o:p id="yui_3_16_0_1_1453211183252_3610" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3612"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3614" class=""> {0x0000,
0x00, 1}, /* Gap */<o:p id="yui_3_16_0_1_1453211183252_3616" class=""></o:p></span></div><div class="" style="margin-bottom: 0.0001pt;" id="yui_3_16_0_1_1453211183252_3618"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3620" class=""> {0x6010,
0x10, 1}, /* TxPDO Toggle */<o:p id="yui_3_16_0_1_1453211183252_3622" class=""></o:p></span></div><div>
</div><div class="" style="margin-bottom: 0.0001pt;" dir="ltr" id="yui_3_16_0_1_1453211183252_3624"><span style="font-size: 10.5pt; font-family: Helvetica, sans-serif;" id="yui_3_16_0_1_1453211183252_3626" class="">};<o:p id="yui_3_16_0_1_1453211183252_3628" class=""></o:p></span></div></div></body></html>