[etherlab-users] Adapting 'user' example for FB1111-014x

[Thorsten Schnebeck]

Am Montag, 15. November 2010, um 17:23:35 schrieb Maarten Burghout:
> On 15-11-2010 15:52, Thorsten Schnebeck wrote:
> > just as a side node. You know that you need a µC controlling the
> > FB1111-014X SPI slave that runs Beckhoffs slave sample code or your
> > own adaption of the ethercat protocol stack? Only the
> > 32-BIT-IO-FB1111-0142 type runs without further µC assistance.
> 
> Does this also hold when Device Emulation (see notes at AL control
> register 0x0120) is enables, like I did (and didn't mention in my
> earlier message)?

Ah, ok - that should work with reprogramming the eeprom for changing register 
0x0140  - but I do not know how etherlab master handles the Error Indication 
Acknowledge (see Sect. I - 10.1.2 in the ET1100 datasheet) and if this strange 
resistor pdi configurator on the FB1111-0141 makes any problems.
 
> At this moment, we are aiming for a 1kHz control loop. Given a PWM value
> represented by a 16-bit word, and an encoder value in 32-bit
> representation, I'd think SPI (running at 5MHz at the moment, could be
> increased to 20MHz if necessary) would be able to handle that.

That should work. You get the frame and a DC interrupt. Pipe the frame down to 
the µC, process your inner control stuff, change the PWM and pipe the result up 
to the ESC. 

If you have deeper knowledge in integrating your own PDI settings via CoE in 
slave sample code (SSC) I would really like to hear from you. SSC is a little 
monster ;-)

Bye

  Thorsten