Experimental Physics and
Industrial Control System

"Stubbs, Scott A." <[email protected]> · Mon, 19 Feb 2018 21:46:37 +0000

Hi Mark,

We have actually been working on a module to work with the EK9000 Ethernet <-> EtherCAT terminal coupler, which would use Modbus for I/O rather than talking EtherCAT directly.  The nice thing about this is we won’t need a dedicated NIC nor machine to be the EtherCAT master.  In this case the EK9000 will be the master.
Our initial setup:
EK9000 (Ethernet coupler & EtherCAT master)
EL5042 (BiSS-C/SSI absolute encoder module)
EL7041 (Stepper motor module)

We’re basing it off of an equivalent module for the BK9000 (similar but for K-bus terminals) which I believe was also developed in-house at SLAC.  Initially I am developing it for a motion application but the idea is to make it a general purpose module.

In case you are interested we can perhaps upload the code to Github.

Cheers,
Scott

> On 7 Feb 2018, at 1:35 am, [email protected] wrote:
> 
> Hi Mark,
> 
> As Torsten and Jeong Han have already said, the Diamond Ethercat EPICS support is available [1], but it does not support motion.
> 
> For some digital I/O and analog I/O we would use kit from our supported set [2].
> 
> The master in our setup runs on a Dell R310, using Redhat MRG (real time pre-empt rt kernel).
> The minimal ethercat kit would be:  EK1100 coupler, EL1014 (digital input), EL3104 (analogue input), EL2024 (digital output), EL4134 (analogue output).
> 
> Best regards,
> 
> Ronaldo 
> 
> [1] https://github.com/dls-controls/ethercat 
> [2] See https://epics.anl.gov/tech-talk/2015/msg01665.php
> 
> -----Original Message-----
> From: [email protected] [mailto:[email protected]] On Behalf Of Torsten Bögershausen
> Sent: 07 February 2018 05:29
> To: Mark Rivers; [email protected]
> Subject: Re: EtherCAT newbie question
> 
> Hej Mark,
> this is what we use for our motion control test/development crates:
> 
> # CPU: CX5130
> # Configure EL1018 digital input terminal
> # Configure EL2808 digital output terminal
> # Configure EL5101 incremental encoder terminal, motor 1
> # Configure EL5101 incremental encoder terminal, motor 2
> # Configure EL9505 Power supply terminal 5V
> # Configure EL1252 digital input terminal
> # Configure EL7037 stepper drive terminal, motor 1
> # Configure EL7037 stepper drive terminal, motor 2
> 
> (No analog IO in our motion crates ;-)
> 
> No sure if you have access to this page about other terminals for motion:
> https://confluence.esss.lu.se/display/MCAG/Motion+Controller
> 
> HTH
> /Torsten
> 
> PS:
> As Han Lee pointed out, there are different SW packages:
> - Beckhoff TwinCAT
> - Linux ("scanner" from DLS and ecat2 from PSI) (but no motion control)
> - Linux ECMC from ESS http://icalepcs2017.vrws.de/talks/mocpl05_talk.pdf
> And we are happy to help.
> 
> 
> 
> 
> On 06/02/18 20:37, Mark Rivers wrote:
>> I am interested in trying out EtherCAT with a simple inexpensive setup.  What 
>> are the minimum parts I need to buy if I want to use the EPICS EtherCAT driver 
>> to control some digital I/O, analog I/O, and a stepper motor?  I looked at the 
>> Beckhoff website, but I find it overwhelming.
>> 
>> Thanks,
>> 
>> Mark
>> 
> 
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Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System