[etherlab-users] Controlling motor drivers

[Thomas Bitsky Jr]

I use the EL7041 often. He’s a quick copy/paste of how I make it move to position. The code snippet below writes to EtherLAB through a library I wrote, but the tasks required should be pretty obvious.

Thanks!
============

static int
stateIdle(void* lp)
{
	EL7041StepperInterface* p;	
	EL7041_ENTER(p, lp);
		
	if (p->doMove)
	{
		p->doMove = false;
		
		
		if ( !lcxReadPdoBit(p->pdoOffset + IX_READY) )
		{
			PRINT( "EL7041.%s not ready for motion. Cancelling.\n",
				__FUNCTION__ );
			return StateMachineRunning;
		}
		

		
		
		lcxWritePdoUInt16(p->pdoOffset + QW_SETACCEL, p->targetAccel );
		lcxWritePdoUInt16(p->pdoOffset + QW_SETDECEL, p->targetDecel );
		lcxWritePdoUInt16(p->pdoOffset + QW_SETVELOCITY, p->targetVelocity );
		
		p->fsm = &stateWaitWriteMotionParameters;
		return StateMachineTransition;
	}

}

static int
stateWaitWriteMotionParameters(void* lp)
{
	EL7041StepperInterface* p;
	EL7041_ENTER(p, lp);
		
	p->fsm = &stateWriteStartType;
	return StateMachineTransition;
}


static int
stateWriteStartType(void* lp)
{
	EL7041StepperInterface* p;
	EL7041_ENTER(p, lp);
	
	lcxWritePdoUInt32(p->pdoOffset + QW_SETTARGETPOSITION, p->setTargetPosition );
	lcxWritePdoUInt32(p->pdoOffset + QW_SETSTARTTYPE, p->setStartType );
	
	p->ton = TON_ENDTIME(100);

	p->fsm = &stateWaitWriteStartType;
	return StateMachineTransition;
}


static int
stateWaitWriteStartType(void* lp)
{
	EL7041StepperInterface* p;
	EL7041_ENTER(p, lp);

	if (TON_ISDONE(p->ton))
	{
		/*
		 * ALERT!
		 * This command should start motion on the axis.
		 */
		lcxWritePdoBit(p->pdoOffset + QX_CONTROLEXECUTE, true);

		p->ton = TON_ENDTIME(500);
		p->fsm = &stateWaitExecute;
		return StateMachineTransition;
	}

	return StateMachineRunning;
}


 
Thomas C. Bitsky Jr. | Lead Developer
ADC | automateddesign.com <http://automateddesign.com/>

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From:  etherlab-users <etherlab-users-bounces at etherlab.org> on behalf of Paul Mulligan <mulligan252 at yahoo.ie>
Reply-To:  Paul Mulligan <mulligan252 at yahoo.ie>
Date:  Tuesday, January 19, 2016 at 7:49 AM
To:  "etherlab-users at etherlab.org" <etherlab-users at etherlab.org>
Subject:  [etherlab-users] Controlling motor drivers


Hi,   (Formatting was wrong on previous post)
 
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 */
};