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- farmer_mike
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07 Jun 2025 17:55 #329889
by farmer_mike
test post was created by farmer_mike
Thanks for the help everyone. I decided to move my project to a Raspberry Pi 4, so I made sure to use the latest versions of LinuxCNC and Ethercat. I think I have the experimental XML config working now. I am a little unsure what to do with the output file.
I'll paste two files below. The first file is the ethercat-conf.xml from my CNC project when I had a single axis using an Rtelligent ECT 60 stepper motor.The single axis worked, so I have since bought two Rtelligent RS750E AC Servo drives. All I have done with the RS750E drives is power them up and connect the Ethernet. I haven't done any onboard parameter programming yet.
The experimental XML config generator recognized all three drives in order.
Is the output from the experimental XML config generator meant to be used to create the ethercat-conf.xml file?
I'll paste two files below. The first file is the ethercat-conf.xml from my CNC project when I had a single axis using an Rtelligent ECT 60 stepper motor.The single axis worked, so I have since bought two Rtelligent RS750E AC Servo drives. All I have done with the RS750E drives is power them up and connect the Ethernet. I haven't done any onboard parameter programming yet.
The experimental XML config generator recognized all three drives in order.
Is the output from the experimental XML config generator meant to be used to create the ethercat-conf.xml file?
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
<!-- Joint 0 -->
<slave idx="0" type="generic" vid="00000a88" pid="0a880002" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="88 13"/></sdoConfig> <!-- Max motor current (5.0) -->
<sdoConfig idx="2007" subIdx="6"><sdoDataRaw data ="05"/></sdoConfig> <!-- Input 6 - Emergency Stop -->
<sdoConfig idx="2007" subIdx="5"><sdoDataRaw data ="05"/></sdoConfig> <!-- Input 3 - Home Function -->
<sdoConfig idx="2011" subIdx="0"><sdoDataRaw data ="01 00"/></sdoConfig> <!-- Closed loop -->
<sdoConfig idx="6098" subIdx="0"><sdoDataRaw data ="11 00"/></sdoConfig> <!-- Home mode 17 -->
<sdoConfig idx="607C" subIdx="0"><sdoDataRaw data ="00 00"/></sdoConfig> <!-- Home offset 0 -->
<sdoConfig idx="609A" subIdx="0"><sdoDataRaw data ="F4 01"/></sdoConfig> <!-- Home accelleration 500 -->
<sdoConfig idx="6099" subIdx="01"><sdoDataRaw data ="C4 09"/></sdoConfig> <!-- Home fast speed 2500-->
<sdoConfig idx="6099" subIdx="02"><sdoDataRaw data ="F4 01"/></sdoConfig> <!-- Home slow speed 500 -->
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<!-- Target Position -->
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<!-- Target Velocity -->
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
<!-- Digtial Outputs (manufacturer's extension ECT86/ECT60)-->
<pdoEntry idx="204A" subIdx="0" bitLen="16" halType="complex">
<complexEntry bitLen="1" halPin="out-1" halType="bit"/>
<complexEntry bitLen="1" halPin="out-2" halType="bit"/>
<complexEntry bitLen="14"/>
</pdoEntry>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
<!-- Digtial_inputs (cia402 compatible) -->
<pdoEntry idx="60FD" subIdx="0" bitLen="32" halType="complex">
<complexEntry bitLen="1" halPin="CW-limit" halType="bit"/>
<complexEntry bitLen="1" halPin="CCW-limit" halType="bit"/>
<complexEntry bitLen="1" halPin="in-home" halType="bit"/>
<complexEntry bitLen="13"/>
<complexEntry bitLen="1" halPin="in-1" halType="bit"/>
<complexEntry bitLen="1" halPin="in-2" halType="bit"/>
<complexEntry bitLen="1" halPin="in-3" halType="bit"/>
<complexEntry bitLen="1" halPin="in-4" halType="bit"/>
<complexEntry bitLen="1" halPin="in-5" halType="bit"/>
<complexEntry bitLen="1" halPin="in-6" halType="bit"/>
<complexEntry bitLen="10"/>
</pdoEntry>
</pdo>
</syncManager>
</slave>
</master>
</masters>
<masters>
<master idx="0">
<slave idx="0" type="ECT60" name="D1">
<!-- Enable support for Cyclic Synchronous Position mode. -->
<modParam name="enableCSP" value="true"/>
<!-- Enable support for Cyclic Synchronous Velocity mode. -->
<modParam name="enableCSV" value="false"/>
<!-- Maximum stepper Amps. -->
<modParam name="peakCurrent_amps" value="6.0"/>
<!-- Operation mode: openloop, closedloop, or foc. -->
<modParam name="controlMode" value="closedloop"/>
<!-- Number of encoder steps per revolution. -->
<modParam name="encoderResolution" value="4000"/>
<!-- Output 1 use: general, alarm, brake, in-place. -->
<modParam name="output1Func" value="alarm"/>
<!-- Output 2 use: general, alarm, brake, in-place. -->
<modParam name="output2Func" value="brake"/>
<!-- Input 3 use: general, cw-limit, ccw-limit, home, clear-fault, emergency-stop, motor-offline, probe1, probe2 -->
<modParam name="input3Func" value="cw-limit"/>
<!-- Input 4 use: general, cw-limit, ccw-limit, home, clear-fault, emergency-stop, motor-offline, probe1, probe2 -->
<modParam name="input4Func" value="ccw-limit"/>
<!-- Input 5 use: general, cw-limit, ccw-limit, home, clear-fault, emergency-stop, motor-offline, probe1, probe2 -->
<modParam name="input5Func" value="home"/>
<!-- Input 6 use: general, cw-limit, ccw-limit, home, clear-fault, emergency-stop, motor-offline, probe1, probe2 -->
<modParam name="input6Func" value="motor-offline"/>
</slave>
<slave idx="1" type="basic_cia402" vid="0x00000a88" pid="0x0a880013" name="D2">
<!--RS750E(COE)-->
<modParam name="ciaRxPDOEntryLimit" value="9"/>
<modParam name="ciaTxPDOEntryLimit" value="9"/>
<modParam name="enablePP" value="true"/>
<modParam name="enablePV" value="true"/>
<modParam name="enableTQ" value="true"/>
<modParam name="enableHM" value="true"/>
<modParam name="enableCSP" value="true"/>
<modParam name="enableCSV" value="true"/>
<modParam name="enableCST" value="true"/>
<modParam name="enableActualFollowingError" value="true"/>
<modParam name="enableActualTorque" value="true"/>
<modParam name="enableDigitalInput" value="true"/>
<modParam name="digitalInChannels" value="16"/>
<modParam name="enableDigitalOutput" value="true"/>
<modParam name="digitalOutChannels" value="16"/>
<modParam name="enableErrorCode" value="true"/>
<modParam name="enableFollowingErrorTimeout" value="true"/>
<modParam name="enableFollowingErrorWindow" value="true"/>
<modParam name="enableHomeAccel" value="true"/>
<modParam name="enableMaximumCurrent" value="true"/>
<modParam name="enableMaximumTorque" value="true"/>
<modParam name="enablePolarity" value="true"/>
<modParam name="enablePositionDemand" value="true"/>
<modParam name="enablePositioningTime" value="true"/>
<modParam name="enablePositioningWindow" value="true"/>
<modParam name="enableProbeStatus" value="true"/>
<modParam name="enableProfileAccel" value="true"/>
<modParam name="enableProfileDecel" value="true"/>
<modParam name="enableProfileMaxVelocity" value="true"/>
<modParam name="enableProfileVelocity" value="true"/>
<modParam name="enableTargetTorque" value="true"/>
<modParam name="enableTorqueDemand" value="true"/>
<modParam name="enableTorqueSlope" value="true"/>
<modParam name="enableVelocityErrorTime" value="true"/>
<modParam name="enableVelocityErrorWindow" value="true"/>
</slave>
<slave idx="2" type="basic_cia402" vid="0x00000a88" pid="0x0a880013" name="D3">
<!--RS750E(COE)-->
<modParam name="ciaRxPDOEntryLimit" value="9"/>
<modParam name="ciaTxPDOEntryLimit" value="9"/>
<modParam name="enablePP" value="true"/>
<modParam name="enablePV" value="true"/>
<modParam name="enableTQ" value="true"/>
<modParam name="enableHM" value="true"/>
<modParam name="enableCSP" value="true"/>
<modParam name="enableCSV" value="true"/>
<modParam name="enableCST" value="true"/>
<modParam name="enableActualFollowingError" value="true"/>
<modParam name="enableActualTorque" value="true"/>
<modParam name="enableDigitalInput" value="true"/>
<modParam name="digitalInChannels" value="16"/>
<modParam name="enableDigitalOutput" value="true"/>
<modParam name="digitalOutChannels" value="16"/>
<modParam name="enableErrorCode" value="true"/>
<modParam name="enableFollowingErrorTimeout" value="true"/>
<modParam name="enableFollowingErrorWindow" value="true"/>
<modParam name="enableHomeAccel" value="true"/>
<modParam name="enableMaximumCurrent" value="true"/>
<modParam name="enableMaximumTorque" value="true"/>
<modParam name="enablePolarity" value="true"/>
<modParam name="enablePositionDemand" value="true"/>
<modParam name="enablePositioningTime" value="true"/>
<modParam name="enablePositioningWindow" value="true"/>
<modParam name="enableProbeStatus" value="true"/>
<modParam name="enableProfileAccel" value="true"/>
<modParam name="enableProfileDecel" value="true"/>
<modParam name="enableProfileMaxVelocity" value="true"/>
<modParam name="enableProfileVelocity" value="true"/>
<modParam name="enableTargetTorque" value="true"/>
<modParam name="enableTorqueDemand" value="true"/>
<modParam name="enableTorqueSlope" value="true"/>
<modParam name="enableVelocityErrorTime" value="true"/>
<modParam name="enableVelocityErrorWindow" value="true"/>
</slave>
</master>
</masters>
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- tommylight
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11 Jun 2025 02:14 #330119
by tommylight
Replied by tommylight on topic test post
Bump to remove it from "No replies" section.
This was also posted somewhere else on the forum and replied, so this remains a test post.
Thank you.
This was also posted somewhere else on the forum and replied, so this remains a test post.
Thank you.
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