I have a Beckhoff EK1100 PLC with EtherCAT control and several servo motors, and I plan to build a large 3D printer using these motors. I have already installed the EtherCAT master and can see the motors as slaves. However, I am struggling to figure out how to integrate these motors with Klipper.
Klipper supports CAN-bus connections, so I believe I can also establish a connection using EtherCAT. I plan to use EtherCAT solely to control the motors.
Any help or guidance on how to configure this setup in Klipper would be greatly appreciated.
Klipper supports CAN-bus connections.
As stated before Ethercat to klipper - #2 by hcet14 don’t waste your time. You’re probably young and never contacted Klipper physical. Again
I would reconsider your project. Sorry.
Going by the CAN example: Klipper (Host) talks to Klipper MCU or Klipper CAN bridge via the CAN bus protocol.
With this in mind: Klipper neither supports EtherCAT natively nor any EtherCAT Couplers, so this will not work unless some knowledgeable developer implements this protocol in Klipper.
What might work is just sending step pulses to whatever “interface layer” that then pushes these step pulses via EtherCAT to the respective motors.
I though highly doubt that this will bring any benefit from an overall system perspective.
I am thinking of writing a software that will transmit the information I receive from the clipper to the engines via ethercat with an intermediate software, but I don’t know how to do it.
