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Copley ethercat Dual axis drive


NigelInWindsor
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I'm trying to manually configure the ethercat structures to read the IO ports on the drive.

I have to do this because ecat config doesn't find them and System Setup doesn't find them either.

 

ECAT[0].Slave[2].PDO[10].index=$2190

ECAT[0].Slave[2].PDO[10].subindex=0

ECAT[0].Slave[2].PDO[10].bitlength=8

 

ECAT[0].Slave[2].PDO[11].index=$2194

ECAT[0].Slave[2].PDO[11].subindex=0

ECAT[0].Slave[2].PDO[11].bitlength=8

 

//Input Raw data from Copley xenus 2 axis

ECAT[0].IO[102].Slave=2

ECAT[0].IO[102].Index=ECAT[0].Slave[2].PDO[10].index

ECAT[0].IO[102].Subindex=ECAT[0].Slave[2].PDO[10].subindex

ECAT[0].IO[102].BitLength=ECAT[0].Slave[2].PDO[10].bitlength

ECAT[0].IO[102].Input=1 //Input

Ecat[0].Io[102].Type=8

 

//Output Raw data from Copley xenus 2 axis

ECAT[0].IO[103].Slave=2

ECAT[0].IO[103].Index=ECAT[0].Slave[2].PDO[11].index

ECAT[0].IO[103].Subindex=ECAT[0].Slave[2].PDO[11].subindex

ECAT[0].IO[103].BitLength=ECAT[0].Slave[2].PDO[11].bitlength

ECAT[0].IO[103].Input=0 //Output

Ecat[0].Io[103].Type=8

 

ECAT[0].IOCount=104

 

 

when I enable the Ecat[0] I get a Struct Write Error

 

Does anyone have any suggestions.

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I'm trying to manually configure the ethercat structures to read the IO ports on the drive.

I have to do this because ecat config doesn't find them and System Setup doesn't find them either.

 

ECAT[0].Slave[2].PDO[10].index=$2190

ECAT[0].Slave[2].PDO[10].subindex=0

ECAT[0].Slave[2].PDO[10].bitlength=8

 

ECAT[0].Slave[2].PDO[11].index=$2194

ECAT[0].Slave[2].PDO[11].subindex=0

ECAT[0].Slave[2].PDO[11].bitlength=8

 

//Input Raw data from Copley xenus 2 axis

ECAT[0].IO[102].Slave=2

ECAT[0].IO[102].Index=ECAT[0].Slave[2].PDO[10].index

ECAT[0].IO[102].Subindex=ECAT[0].Slave[2].PDO[10].subindex

ECAT[0].IO[102].BitLength=ECAT[0].Slave[2].PDO[10].bitlength

ECAT[0].IO[102].Input=1 //Input

Ecat[0].Io[102].Type=8

 

//Output Raw data from Copley xenus 2 axis

ECAT[0].IO[103].Slave=2

ECAT[0].IO[103].Index=ECAT[0].Slave[2].PDO[11].index

ECAT[0].IO[103].Subindex=ECAT[0].Slave[2].PDO[11].subindex

ECAT[0].IO[103].BitLength=ECAT[0].Slave[2].PDO[11].bitlength

ECAT[0].IO[103].Input=0 //Output

Ecat[0].Io[103].Type=8

 

ECAT[0].IOCount=104

 

 

when I enable the Ecat[0] I get a Struct Write Error

 

Does anyone have any suggestions.

 

Hi,

I checked the XML file for XENUS and found out that the the variable 0x2190 is of type RO (read only) This is why system setup software does not list the variable. Here is the file snapshot:

#x2190

General purpose inputs

UINT

16

ro

T

At this point the system software does not support the mapping of the variable whose bit size is more than 32 bits. We will implement this feature in next version.

Manually you can still setup the variable that are more than 32 bit. The bit size information is in the xml file.

Thanks,

Atul

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