[List of All Tested EtherCAT Devices]

Is there a more recent list of EtherCAT devices?

 

I'm interested if any LinMot drives have been tested with the Power PMAC - specifically, the E1250-EC-UC or the E1250-SE-UC.

[User phase routines]

I'm trying to get a user phase routine setup outside of the IDE. I've cross-compiled and inserted the module into the kernel, with the help of this useful bit of information from hbausley in another thread:

 

If you wanted to do your own seperate kernel module and wanted a particular function callable by the phase routine. You would need to EXPORT_SYMBOL the function you wanted callable and Force the address of your function into UserAlgo.PhaseAddr[] with a c application. Once your kernel module is loaded ie. with a insmod yourdrv.ko you could do a cat /proc/kallsyms | grep your_function and you will see what the address of your function is.

 

I have the address of the function. Now how do I set a specific motor to use that phase algorithm?

 

Thanks in advance.

[PLCs and kill, jog, cout with motor number in variable]

Thanks -- that appears to work. I missed that in the documentation.

[PLCs and kill, jog, cout with motor number in variable]

I'm having some issues with getting PLCs to programmatically kill a motor (that is, with its motor number in a variable -- I've tried L- or P- variables).

It would appear that jogging and open-loop output also do not work this way. Is this a bug or is there something that I'm missing?

 

open plc 8
   local m_exp;
   m_exp = 3;
   P2 = 3;

   // Either of these lines abort the PLC ("Stopped on an illegal script operation code")
   kill P2;
   kill m_exp;

   // These do the same:
   cout P2:100.0;
   cout m_exp:100.0;

   // These do not cause errors, but also do not attempt to jog to the position:
   jog P2=1.0;
   jog m_exp=1.0;

close