[etherlab-users] Controlling motor drivers

[Paul Mulligan]

Hi,   (Formatting was wrong on previous post)

 We bought variousBeckoff modules for Digital in , Digital out, Analogue in and Stepper Motorcontrol. 

 I am able to communicatewith with the digital I/O and analogue input slave modules from Ethercat masterIGH 1.5.2 without problems, but the stepper motor controller (EL7031) is morecomplicated.

 Below is a list of thePDO entries for the motor controller retrieved from the Ethercat bus using thecommand line tool with the cstruct option.

 I am only able to setthe velocity and then set the enable bit to start the motor running. I have noidea how to command the motor to just turn a certain amount of steps and changedirection etc. I have tried to set a counter value but it doesn't make adifference. Also, if I set the bits to move positive or move negative, itdoesn't change direction as I would expect. I can't seem to find anydocumentation or examples on how to control motors with this module EL7031. Ifanyone has any information or knowledge , I would really appreciate your help.Thanks

 

ec_pdo_entry_info_tslave_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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