[etherlab-users] Controlling motor drivers
Graeme Foot
Graeme.Foot at touchcut.com
Tue Jan 19 22:55:22 CET 2016
Hi,
We also use the EL7041 in production, but have also used an EL7031 for testing.
The default the PDO mapping is for velocity control. You need to change it to use the position control PDO's.
For the EL7031 the PDO setup I use is:
ec_pdo_entry_info_t EL7031_pdoEntries[] = {
// 0x1602, stepper control (0)
{0x7010, 0x01, 1}, // Enable
{0x7010, 0x02, 1}, // Reset
{0x7010, 0x03, 1}, // Reduce torque
{0x0000, 0x00, 5}, // spacer
{0x0000, 0x00, 8}, // spacer
// 0x1603, stepper pos (5)
{0x7010, 0x11, 32}, // Target position
// 0x1a03, stepper status (6)
{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}, // spacer
{0x0000, 0x00, 3}, // spacer
{0x6010, 0x0c, 1}, // Digital input 1
{0x6010, 0x0d, 1}, // Digital input 2
{0x1c32, 0x20, 1}, // Sync error
{0x0000, 0x00, 1}, // spacer
{0x1803, 0x09, 1}, // *** unknown ***
};
ec_pdo_info_t EL7031_pdos[] = {
{0x1602, 5, EL7031_pdoEntries + 0},
{0x1603, 1, EL7031_pdoEntries + 5},
{0x1a03, 14, EL7031_pdoEntries + 6},
};
ec_sync_info_t EL7031_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 2, EL7031_pdos + 0, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 1, EL7031_pdos + 2, EC_WD_DISABLE},
{0xff}
};
PDO Item #5 {0x7010, 0x11, 32} is the Target position.
You will want to pre-configure some of the SDO values:
maxCurrent 0x8010, 0x01
reducedCurrent 0x8010, 0x02
nominalVoltage 0x8010, 0x03
motorCoilResistance 0x8010, 0x04
motorFullSteps 0x8010, 0x06
maxSpeedRange 0x8012, 0x05
reversed 0x8012, 0x09
On initialisation you need to set the motor to use the Position Controller mode of operation (3):
ecrt_slave_config_sdo8(dev->slaveConfig, 0x8012, 0x01, 3);
You may also want to set up the distributed clock (eg:)
ecrt_slave_config_dc(dev->slaveConfig, 0x0300, g_app.scanTimeNS, 500000, 0, 0);
You will probably want to set up a motor enable state machine but the guts of it is that you will want to:
- before enabling, if the error status bit (PDO Item #9 {0x6010, 0x04, 1}) is set
set the faultReset control bit (PDO Item #1 {0x7010, 0x02, 1}) for around 100ms
- ensure the readyToEnable status bit (PDO Item #6 {0x6010, 0x01, 1}) is on
if there is no error set the enable control bit (PDO Item #0 {0x7010, 0x01, 1})
wait until the ready status bit (PDO Item #7 {0x6010, 0x02, 1}) is on
Once enabled you need to update the target position (PDO Item #5 {0x7010, 0x11, 32}) every scan cycle with the position you want to go to. It is up to you to create a motion profile for the motor and then figure out what the target position is at each time increment.
Lastly, if you get the warning or error status bits set you can look up what the error or warning is via the 0xA010 SDO diagnostic bits (0xA010:0x01 - 0xA010:0x11). Note: these are only available via SDO access, so what I do is have a state machine that looks them up if the warning or error status bits are set.
Hope this helps.
Regards,
Graeme Foot
Kinetic Engineering Design Ltd.
-----Original Message-----
From: etherlab-users [mailto:etherlab-users-bounces at etherlab.org] On Behalf Of Thomas Bitsky Jr
Sent: Wednesday, 20 January 2016 3:57 a.m.
To: Paul Mulligan; etherlab-users at etherlab.org
Subject: Re: [etherlab-users] Controlling motor drivers
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 */ }; _______________________________________________
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