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Copley ethercat Dual axis drive
#1
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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#2
(02-10-2014, 07:08 AM)NigelInWindsor Wrote: 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:
<Object>
<Index>#x2190</Index>
<Name>General purpose inputs</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Flags>
<Access>ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
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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