On Jan 3, 2014, at 9:55 AM, Sebastien BLANCHET <[email protected]> wrote:
> Dear Dave, > > There are (at least) two kinds of EtherCAT servo drives: > > Type 1: CoE (CAN over EtherCAT) > for example: Kollmorgen AKD, Beckhoff AX2000 and Elmo GOLD families > > Type 2: SoE (SERCOS over EtherCAT) > for example: Beckhoff AX5000 family > > I think that both are difficult to learn because the documentation > is available only for TwinCAT. > > --- > sebastien > > On 01/02/2014 09:11 PM, Dave Scheinman wrote: >> After much fumbling around I've successfully managed to get Etherlab up >> and running and talking to a Beckhoff EK1100 with some Digital and >> Analog I/O. Ultimately I would like to use Ethercat to control some >> brushless motors. >> >> Companies like Advanced Motion Control and Elmo make Ethercat drives in >> the current/voltage range I am interested, but I am open to other >> suggestions. Does the Etherlab community have a suggestion on which >> vendor's drives will provide the most seamless integration with Etherlab? >> >> The Beckhoff hardware has pre-made Simulink blocks provided with >> Etherlab but I am unclear how to go about creating these blocks for an >> arbitrary servo drive. Is this documented somewhere? >> >> Thanks! >> ~dave I was able to get Copley Controls AE series drives working for a client in only a few days a while back (Etherlab master 1.5.0/1.5.2) with the CANOpen documentation and some EtherCAT app notes available from Copley's web site, plus a couple of phone calls to their techs for clarification. Ran 4 axes successfully using the Etherlab user example as a starting point on a PREEMPT_RT patched 3.x Linux kernel. Tom Nelson Consulting Engineer Granite Computer Sciences, LLC Milford, NH
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