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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US">Hi,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US">This is the PDO structures we use for EL3064 modules (available if you run the "ethercat cstruct" command for your module):<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">ec_pdo_entry_info_t EL3064_pdoEntries[] = {<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> // Ch.1 (0)<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6000, 0x01, 1}, /* Underrange */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6000, 0x02, 1}, /* Overrange */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6000, 0x03, 2}, /* Limit 1 */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6000, 0x05, 2}, /* Limit 2 */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6000, 0x07, 1}, /* Error */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x0000, 0x00, 1}, /* Gap */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x0000, 0x00, 6}, /* Gap */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6000, 0x0f, 1}, /* TxPDO State */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6000, 0x10, 1}, /* TxPDO Toggle */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6000, 0x11, 16}, /* Value */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">
<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> // Ch.2 (10)<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6010, 0x01, 1}, /* Underrange */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6010, 0x02, 1}, /* Overrange */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6010, 0x03, 2}, /* Limit 1 */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6010, 0x05, 2}, /* Limit 2 */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6010, 0x07, 1}, /* Error */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x0000, 0x00, 1}, /* Gap */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x0000, 0x00, 6}, /* Gap */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6010, 0x0f, 1}, /* TxPDO State */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6010, 0x10, 1}, /* TxPDO Toggle */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6010, 0x11, 16}, /* Value */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">
<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> // Ch.3 (20)<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6020, 0x01, 1}, /* Underrange */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6020, 0x02, 1}, /* Overrange */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6020, 0x03, 2}, /* Limit 1 */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6020, 0x05, 2}, /* Limit 2 */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6020, 0x07, 1}, /* Error */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x0000, 0x00, 1}, /* Gap */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x0000, 0x00, 6}, /* Gap */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6020, 0x0f, 1}, /* TxPDO State */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6020, 0x10, 1}, /* TxPDO Toggle */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6020, 0x11, 16}, /* Value */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">
<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> // Ch.4 (30)<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6030, 0x01, 1}, /* Underrange */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6030, 0x02, 1}, /* Overrange */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6030, 0x03, 2}, /* Limit 1 */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6030, 0x05, 2}, /* Limit 2 */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6030, 0x07, 1}, /* Error */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x0000, 0x00, 1}, /* Gap */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x0000, 0x00, 6}, /* Gap */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6030, 0x0f, 1}, /* TxPDO State */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6030, 0x10, 1}, /* TxPDO Toggle */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x6030, 0x11, 16}, /* Value */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">};<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">ec_pdo_info_t EL3064_pdos[] = {<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x1a00, 10, EL3064_pdoEntries + 0}, /* TxPDO-Map Channel 1 */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x1a02, 10, EL3064_pdoEntries + 10}, /* TxPDO-Map Channel 2 */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x1a04, 10, EL3064_pdoEntries + 20}, /* TxPDO-Map Channel 3 */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0x1a06, 10, EL3064_pdoEntries + 30}, /* TxPDO-Map Channel 4 */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">};<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">ec_sync_info_t EL3064_syncs[] = {<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {3, EC_DIR_INPUT, 4, EL3064_pdos + 0, EC_WD_DISABLE},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> {0xff}<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">};<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US">To configure it and use it you call something like the following commands on startup:<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">slaveConfig = ecrt_master_slave_config(master, alias, position, vendorID, productCode);<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">ecrt_slave_config_pdos(slaveConfig, EC_END, EL3064_syncs);<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">value1Offset = ecrt_slave_config_reg_pdo_entry(slaveConfig, EL3064_pdoEntries[9].index,<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> EL3064_pdoEntries[9].subindex, domain, &bitPos);<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">value2Offset = ecrt_slave_config_reg_pdo_entry(slaveConfig, EL3064_pdoEntries[19].index,<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> EL3064_pdoEntries[19].subindex, domain, &bitPos);<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">value3Offset = ecrt_slave_config_reg_pdo_entry(slaveConfig, EL3064_pdoEntries[29].index,<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> EL3064_pdoEntries[29].subindex, domain, &bitPos);<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">value4Offset = ecrt_slave_config_reg_pdo_entry(slaveConfig, EL3064_pdoEntries[39].index,<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> EL3064_pdoEntries[39].subindex, domain, &bitPos);<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">status1Offset = ecrt_slave_config_reg_pdo_entry(slaveConfig, EL3064_pdoEntries[0].index,<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> EL3064_pdoEntries[9].subindex, domain, &bitPos);<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">statue2Offset = ecrt_slave_config_reg_pdo_entry(slaveConfig, EL3064_pdoEntries[10].index,<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> EL3064_pdoEntries[19].subindex, domain, &bitPos);<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">status3Offset = ecrt_slave_config_reg_pdo_entry(slaveConfig, EL3064_pdoEntries[20].index,<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> EL3064_pdoEntries[29].subindex, domain, &bitPos);<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">status4Offset = ecrt_slave_config_reg_pdo_entry(slaveConfig, EL3064_pdoEntries[30].index,<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:36.0pt"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US"> EL3064_pdoEntries[39].subindex, domain, &bitPos);<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US">The module returns a value between 0 and 32767 (int16 value) to represent 0 - 10V. From that you can figure out your scale factor. You can use
a LRW (read/write) domain.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US">Regards,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US">Graeme.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<div>
<div style="border:none;border-top:solid #E1E1E1 1.0pt;padding:3.0pt 0cm 0cm 0cm">
<p class="MsoNormal"><b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif">From:</span></b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif"> Sy Meshkat <sy.meshkat@dspcg.com>
<br>
<b>Sent:</b> Tuesday, 9 July 2019 6:33 AM<br>
<b>To:</b> Graeme Foot <Graeme.Foot@touchcut.com><br>
<b>Subject:</b> Question on use of EL3064 (Beckhoff ADC)<o:p></o:p></span></p>
</div>
</div>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">Dear Graeme,<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">This is Sy Meshkat with DSP Control Group. Rahul and I talked/wrote to you about Yaskawa EtherCAT Sigma drive in summer of 2017. Thanks to your helps
our application is application is working fine. <o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">Now, the question I have is weather you have any example of
<b>Beckhoff</b> <b>EL3064</b> Analog to Digital Converter as part of Linux EtherLab application stack. This is a simple 4 channel ADC, but we couldn’t find this hardware in IgH’s EtherCAT master’s hardware.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black"><o:p> </o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">Best regards,
<o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black"> Sy Meshkat</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black"> <img width="115" height="96" style="width:1.1979in;height:1.0in" id="_x0000_i1025" src="cid:image001.jpg@01D5363E.BF036280"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">DSP Control Group, Inc.</span><span lang="EN-US"><br>
</span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">4445 W 77<sup>th</sup> Street</span><span lang="EN-US"><br>
</span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">Minneapolis, MN 55435</span><span lang="EN-US"><br>
<br>
</span><i><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:gray">general</span></i><i><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#666699">
</span></i><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:white">.</span><b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:navy">
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</span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#FF6600;letter-spacing:1.0pt">1</span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:navy;letter-spacing:1.0pt">
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</span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#FF6600;letter-spacing:1.0pt">952</span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:navy;letter-spacing:1.0pt">
</span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#FF6600;letter-spacing:1.0pt">) 831
</span><b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:gray;letter-spacing:1.0pt">–</span></b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#FF6600;letter-spacing:1.0pt"> 9556</span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:navy"> </span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black"><br>
</span><i><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:gray">fax </span></i><i><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:navy">
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</span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#FF6600;letter-spacing:1.0pt">952</span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:navy;letter-spacing:1.0pt">
</span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#FF6600;letter-spacing:1.0pt">) 831
</span><b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:gray;letter-spacing:1.0pt">–</span></b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#FF6600;letter-spacing:1.0pt"> 4697</span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:navy"> </span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">
</span><span lang="EN-US"><br>
</span><i><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:gray">cell</span></i><i><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#666699">
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</span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#FF6600;letter-spacing:1.0pt">612</span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:navy;letter-spacing:1.0pt">
</span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#FF6600;letter-spacing:1.0pt">) 309
</span><b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:gray;letter-spacing:1.0pt">–</span></b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#FF6600;letter-spacing:1.0pt"> 5478</span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:navy"> <br>
</span><i><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:gray">direct e</span></i><b><i><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#999999">:</span></i></b><b><i><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:navy">
</span></i></b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black"> </span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#FF6600;letter-spacing:1.0pt">1</span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:navy;letter-spacing:1.0pt">
</span><b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:gray;letter-spacing:1.0pt">+</span></b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#FF6600;letter-spacing:1.0pt"> ( 952 ) 831
</span><b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:gray;letter-spacing:1.0pt">–</span></b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#FF6600;letter-spacing:1.0pt"> 2349<br>
</span><i><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:gray">website</span></i><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:gray"> </span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:navy">
</span><b><i><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#999999">i:</span></i></b><b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#3366FF">
</span></b><b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:navy"> </span></b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#FF6600"><a href="http://www.dspcg.com/" target="_blank" title="blocked::http://www.dspcg.com/
blocked::http://www.dspcg.com/
blocked::http://www.dspcg.com/ blocked::http://www.dspcg.com/ http://www.dspcg.com/"><span style="color:windowtext">www.dspcg.com</span></a></span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:navy"> </span><b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:gray">--------------------------------------------------------</span></b><b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:navy">-</span></b><b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:gray">--------------------------------------------------------</span></b><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:gray">NOTICE: The foregoing message (including all attachments) is covered by the Electronic Communications
Privacy Act, 18 U.S.C. Sections 2510-2521, is CONFIDENTIAL. If you are not the intended recipient of this message, you are hereby notified that any retention, dissemination, distribution or copying of this communication is strictly prohibited. Please reply
to the sender that you have received this message in error; then delete it<o:p></o:p></span></p>
<p class="MsoNormal"><b><span lang="EN-US" style="font-size:10.0pt;font-family:"Tahoma",sans-serif">From:</span></b><span lang="EN-US" style="font-size:10.0pt;font-family:"Tahoma",sans-serif"> Rahul Deshpande [<a href="mailto:rahulgd92@gmail.com">mailto:rahulgd92@gmail.com</a>]
<br>
<b>Sent:</b> Thursday, August 24, 2017 12:58 PM<br>
<b>To:</b> sy.meshkat<br>
<b>Subject:</b> Fwd: RE: No CoE communication</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-bottom:12.0pt"><span lang="EN-US">---------- Forwarded message ----------<br>
From: "Graeme Foot" <<a href="mailto:Graeme.Foot@touchcut.com" title="blocked::mailto:Graeme.Foot@touchcut.com">Graeme.Foot@touchcut.com</a>><br>
Date: Aug 23, 2017 01:49<br>
Subject: RE: No CoE communication<br>
To: "Rahul Deshpande" <<a href="mailto:rahulgd92@gmail.com" title="blocked::mailto:rahulgd92@gmail.com">rahulgd92@gmail.com</a>><br>
Cc: "<a href="mailto:etherlab-users@etherlab.org" title="blocked::mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a>" <<a href="mailto:etherlab-users@etherlab.org" title="blocked::mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a>><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Hi,<br>
<br>
I have attached a test app to have a look at. It is a (very) cut down version of how my app works. Of course I use RTAI, so it won't be compatible with your Xenomi environment.<br>
<br>
<br>
In main.c at the top of runECat() I have a list of EtherCAT devices and their addresses. It is hard coded here but can of course be loaded from a config file. The device names match devices in the etherCATSlaves.c file.<br>
<br>
etherCATMaster.c contains the code to configure and run the master. etherCATSlaves.c contains each slave's code.<br>
<br>
yaskawaSGDV_create()<br>
- configures the device and gets the PDO command offsets<br>
<br>
yaskawaSGDV_prepareToRun()<br>
- calculates each commands address (after the domains are populated and allocated)<br>
- sets cyclic synchronous position mode (optional, the mode can be set at any time while running)<br>
- sets the control word to zero, just in case<br>
<br>
yaskawaSGDV_run()<br>
- is called once each scan. add code here to control the axis<br>
<br>
yaskawaSGDV_prepareToStop()<br>
- is called when the app is closing. add any code here to clean up your axis<br>
<br>
<br>
Note: In this app the prepareToStop() functions are called once and then the app is shut down immediately. In reality you should continue your realtime cycle until all of the devices are stopped, disabled and safe to turn off. The app also relies on some
of my patches.<br>
<br>
<br>
I hope this helps<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><br>
Regards,<br>
Graeme.<br>
<br>
<br>
<br>
-----Original Message-----<br>
From: etherlab-users [mailto:<a href="mailto:etherlab-users-bounces@etherlab.org" title="blocked::mailto:etherlab-users-bounces@etherlab.org">etherlab-users-bounces@etherlab.org</a>] On Behalf Of Graeme Foot<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-bottom:12.0pt"><span lang="EN-US">Sent: Wednesday, 16 August 2017 10:42 a.m.<br>
To: Rahul Deshpande <<a href="mailto:rahulgd92@gmail.com" title="blocked::mailto:rahulgd92@gmail.com">rahulgd92@gmail.com</a>>;
<a href="mailto:etherlab-users@etherlab.org" title="blocked::mailto:etherlab-users@etherlab.org">
etherlab-users@etherlab.org</a><br>
Subject: Re: [etherlab-users] No CoE communication<br>
<br>
Hi,<br>
<br>
I've been asked to let you know what master version and patches I'm using. I'm still running an old version (2526 from the stable-1.5 branch, 12/02/2013). The script I use to download it is attached (004-etherlab_master).<br>
<br>
I use buildroot to create my linux system, so the script tar's the master folder and puts it in the buildroot downloads folder. Note: I also use a really old buildroot from 2012 with a few modifications, but I have attached the mk file that it uses.<br>
<br>
The patches that I apply are also attached.<br>
<br>
The build options I use are:<br>
--with-linux-dir="<linux dir>"<br>
--enable-cycles<br>
--enable-rtdm<br>
--enable-e100<br>
--enable-e1000<br>
--enable-e1000e<br>
--enable-cx2100<br>
<br>
<br>
I use RTAI, but that shouldn't make any difference.<br>
<br>
<br>
Regards,<br>
Graeme.<br>
<br>
<br>
-----Original Message-----<br>
From: etherlab-users [mailto:<a href="mailto:etherlab-users-bounces@etherlab.org" title="blocked::mailto:etherlab-users-bounces@etherlab.org">etherlab-users-bounces@etherlab.org</a>] On Behalf Of Graeme Foot<br>
Sent: Tuesday, 15 August 2017 12:39 p.m.<br>
To: Rahul Deshpande <<a href="mailto:rahulgd92@gmail.com" title="blocked::mailto:rahulgd92@gmail.com">rahulgd92@gmail.com</a>>;
<a href="mailto:etherlab-users@etherlab.org" title="blocked::mailto:etherlab-users@etherlab.org">
etherlab-users@etherlab.org</a><br>
Subject: Re: [etherlab-users] No CoE communication<br>
<br>
Remember to reply-all to mail the forum as well.<br>
<br>
Line 85 has: #define Yaskawa_Sigma7 0x00000539, 0x02200301 This is different to my drive, so it may still be the Sigma 7 id causing a mismatch, but it is the id being returned from the ethercat struct command.<br>
<br>
Other than that, I've got no idea.<br>
<br>
Graeme.<br>
<br>
<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-US"><o:p> </o:p></span></p>
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