[etherlab-users] Stepper motor driver EL7031 issues

[Paul Mulligan]

Hi,
We bought various Beckoff modules for Digital in , Digital out, Analogue in and Stepper Motor control. 
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.
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.
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
ec_pdo_entry_info_t slave_6_pdo_entries[] ={    {0x0000, 0x00, 1}, /* Gap */    {0x7000, 0x02, 1}, /* Enable latch extern on positive edge */    {0x7000, 0x03, 1}, /* Set counter */    {0x7000, 0x04, 1}, /* Enable latch extern on negative edge */    {0x0000, 0x00, 4}, /* Gap */    {0x0000, 0x00, 8}, /* Gap */    {0x7000, 0x11, 16}, /* Set counter value */    {0x7010, 0x01, 1}, /* Enable */    {0x7010, 0x02, 1}, /* Reset */    {0x7010, 0x03, 1}, /* Reduce torque */    {0x0000, 0x00, 5}, /* Gap */    {0x0000, 0x00, 8}, /* Gap */    {0x7010, 0x21, 16}, /* Velocity */    {0x0000, 0x00, 1}, /* Gap */    {0x6000, 0x02, 1}, /* Latch extern valid */    {0x6000, 0x03, 1}, /* Set counter done */    {0x6000, 0x04, 1}, /* Counter underflow */    {0x6000, 0x05, 1}, /* Counter overflow */    {0x0000, 0x00, 3}, /* Gap */    {0x0000, 0x00, 4}, /* Gap */    {0x6000, 0x0d, 1}, /* Status of extern latch */    {0x6000, 0x0e, 1}, /* Sync error */    {0x0000, 0x00, 1}, /* Gap */    {0x6000, 0x10, 1}, /* TxPDO Toggle */    {0x6000, 0x11, 16}, /* Counter value */    {0x6000, 0x12, 16}, /* Latch value */    {0x6010, 0x01, 1}, /* Ready to enable */    {0x6010, 0x02, 1}, /* Ready */    {0x6010, 0x03, 1}, /* Warning */    {0x6010, 0x04, 1}, /* Error */    {0x6010, 0x05, 1}, /* Moving positive */    {0x6010, 0x06, 1}, /* Moving negative */    {0x6010, 0x07, 1}, /* Torque reduced */    {0x0000, 0x00, 1}, /* Gap */    {0x0000, 0x00, 3}, /* Gap */    {0x6010, 0x0c, 1}, /* Digital input 1 */    {0x6010, 0x0d, 1}, /* Digital input 2 */    {0x6010, 0x0e, 1}, /* Sync error */    {0x0000, 0x00, 1}, /* Gap */    {0x6010, 0x10, 1}, /* TxPDO Toggle */};
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