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Beckhoff EL6751
https://forum.codesys.com/viewtopic.php?f=21&t=9455
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Author:  KKempeneers [ Sun Jan 20, 2019 8:54 am ]
Post subject:  Beckhoff EL6751

Hello,

I'm pulling my last remaining hairs over the CANOpen setup I inherited from a colleague ...

Searchin' the WWW I found this forum post https://forum.codesys.com/viewtopic.php?t=8932 however the "solved the problem message" is kind a blurry. Maybe because my knowledge of the German Language is mainly inspired by Jean Marie Pfaff "Ich habbe in Belgiën shon fiele penalties gestopft". :lol:

I have the same problem, cant get the configuration to work. All Can devices have the red triangle next to them CAN-ERR and RUN led's blink rapidly. (See screenshot)
Attachment:
screenshot.png


Any input on the matter will be greatly appreciated.

Koen.

[edit] Forgot to mention ... when I scan the EtherCat master for devices I get this result ...
Attachment:
DeviceScan.png

The EL6751 does not appear in the device list. Scanning the CAN master returns no devices.

Author:  Edwin Schwellinger [ Sun Jan 20, 2019 10:51 am ]
Post subject:  Re: Beckhoff EL6751

Hi,

I would recommend to check the plc logger… and set CANOPEN_DEBUG as Compiler define
to get more information.

BR
Edwin

Author:  KKempeneers [ Sun Jan 20, 2019 11:50 am ]
Post subject:  Re: Beckhoff EL6751

Hi Edwin,

Where do I define CANOPEN_DEBUG?

Koen.

Author:  Edwin Schwellinger [ Sun Jan 20, 2019 5:52 pm ]
Post subject:  Re: Beckhoff EL6751

Hi Koen,

Application Properties (rightclick on application in the device tree)
here:

BR
Edwin

Author:  KKempeneers [ Sun Jan 20, 2019 5:58 pm ]
Post subject:  Re: Beckhoff EL6751

Hi Edwin,

Thanks I found it. I have lots of CANOPEN related defines in there.

Code:
CANOPEN_NO_MODULARDEVICES, CANOPEN_NO_NODEGUARDING, CANOPEN_NO_SYNCPDOS, CANOPEN_NO_SYNC, CANOPEN_NO_TIMEPRODUCING, CANOPEN_DEBUG


The log returns:
Attachment:
screenshot.png


Hope you can make something of it.

Koen.

Author:  Edwin Schwellinger [ Sun Jan 20, 2019 6:03 pm ]
Post subject:  Re: Beckhoff EL6751

Hi,
hm.. CANbus resitors or wiring ..?
BR
Edwin

Author:  KKempeneers [ Mon Jan 21, 2019 7:29 pm ]
Post subject:  Re: Beckhoff EL6751

Hi Edwin,

I have the CANOpen bus up and running now, the problem was a firmware version in the EDS files for the BK5120. I have the BA version and loaded EDS files for more recent version.

Moving the problem up I found xml description files for the KL modules but they do not get loaded in because "The import filters couldn't be found". Can you please point me in the right direction? I have KL1104 and KL2134 I/O.

KR

Koen.

Author:  Edwin Schwellinger [ Tue Jan 22, 2019 2:52 pm ]
Post subject:  Re: Beckhoff EL6751

Hi,
I think there are no EDS files available for this... (maybe I'm wrong)
please ask the Beckhoff Support.
Another Option which I would prefer is to use BK1120 or 1150 - there you could get an MDP Version which would make it possibe to use
KBUS

BR
Edwin

Author:  KKempeneers [ Wed Jan 23, 2019 2:04 pm ]
Post subject:  Re: Beckhoff EL6751

Hi all,

I find this kind of strange ... BK5120 is a CANOpen K-Bus Buskoppler. But I can't seem to find a way to read and or write to the KL1104 and KL2134 K-Bus Busterminals.

Even more strange is that Beckhoff tech support (in Belgium) says to find help elsewhere :?

Mmm, anyway using Edwin's advice I downloaded the MDP for the EtherCat K-Bus kopplers BK1120 ... what do you know the XML files for the I/O modules are included in this package :?

I can load the modules in the devices tab under the BK1120;
Attachment:
Devices.png

But can't seem to place the modules under the BK5120 ...

Is there maybe a workarround by writing to specific registers? How do I determine the addresses to read / write to access the I/O modules?

Author:  KKempeneers [ Thu Jan 24, 2019 11:30 am ]
Post subject:  Re: Beckhoff EL6751 (Problem Solved !!!)

Hi all,

Just for future reference and it might help others ...

When the correct eds file for the BK5120 is loaded in the device repository and in the devices tree one must add the mappings under the PDO tab for the BK5120 Buskoppler. The whole process is kind off self explanatory. At least once you find the nerve to click on the add mapping button. :oops:

Attachment:
screenshot.png


Kind regards,

Koen

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