Ethercat HAL driver

chimeno wrote: Hello @jc2ktr

I think the problem is that it lacks the speed at which it has to move, register this pin

Code:

<syncManager idx="2" dir="out"> <pdo idx="1600"> <!-- Target Velocity --> <pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="TargetVelocity" halType="float" scale="1000"/> net xvel-cmd => lcec.0.7.TargetVelocity

Merry Christmas
Chimeno

Hello and Merry Christmas @Chimeno,

after an exhausting time i finally got my axis to run, though its not in CSP mode but in Profile Position Mode.

Thanks a lot, now i am at Tuning the Axis because it is oscillating really heavy.
I tried to set up a PID threat but i don't get it to stay calm. Do you know how to set up a PID for EtherCAT Drives? or should the PID be tuned in the Drive Controller itself?

Most of the Manuals/Tutorials online are for Analog Drive Controller. Don't really understand, if this is also usable on EtherCAT drives.

Greetings Jc2ktr / Sven

Hello @jc2ktr

after an exhausting time i finally got my axis to run, though its not in CSP mode but in Profile Position Mode.

I'm so glad you got it to work!

Thanks a lot, now i am at Tuning the Axis because it is oscillating really heavy.
I tried to set up a PID threat but i don't get it to stay calm. Do you know how to set up a PID for EtherCAT Drives? or should the PID be tuned in the Drive Controller itself?

The first PID that you have to configure is that of the drive itself until it works perfectly, you only need the PID in linuxcnc for a fine adjustment, if you have it well configured you would not need PID in linuxcnc, the only thing you have to look at is the maximum speed and acceleration allows you the set of servodrive and motor and that linuxcnc is a little below.

configuration program in case you don't have it.
www.rtelligent.cn/download_list_3.html

Gretting
Chimeno

I have basic problem with "scale" in sincro position mode .... I don't understand what I have to do to make Lcnc digest the "scale" option .... if I change the scale in my xml I always get axis follow error .... if I change SCALE in the ini file I don't get anything ... it's the first axis configuration I do ever on ethercat and I started from the synchronous driving mode in position to not have too many settings problems .... since my servodrive expects me to set a "gear ratio" I have no possibility to do it from the interface parameters, so I think I can "recreate" it using the SCALE macro in the ini file or playing with "scale" in the xml file (for the servo drive the standard gear ratio is 1)..... but to date I have not obtained anything. Am I very wrong? I have to set the INI file and the HAL file as the motors were steppers with step gen and all the rest of the settings maybe? I don't know what more to think.

I am attaching my files so if someone could put me in the right path, even if only with a link to an identical problem already solved .... I am looking for 2 days but I cannot find .... to think that I thought the most difficult part (the installation of etg drive) was outdated

To be precise, everything works but I can't get the axis to SCALE .... I move 180 ° and the real axis only makes about 20 ° ....

bkt

bkt wrote: I have basic problem with "scale" in sincro position mode .... I don't understand what I have to do to make Lcnc digest the "scale" option .... if I change the scale in my xml I always get axis follow error .... if I change SCALE in the ini file I don't get anything ... it's the first axis configuration I do ever on ethercat and I started from the synchronous driving mode in position to not have too many settings problems .... since my servodrive expects me to set a "gear ratio" I have no possibility to do it from the interface parameters, so I think I can "recreate" it using the SCALE macro in the ini file or playing with "scale" in the xml file (for the servo drive the standard gear ratio is 1)..... but to date I have not obtained anything. Am I very wrong? I have to set the INI file and the HAL file as the motors were steppers with step gen and all the rest of the settings maybe? I don't know what more to think.

I am attaching my files so if someone could put me in the right path, even if only with a link to an identical problem already solved .... I am looking for 2 days but I cannot find .... to think that I thought the most difficult part (the installation of etg drive) was outdated

To be precise, everything works but I can't get the axis to SCALE .... I move 180 ° and the real axis only makes about 20 ° ....

bkt

Hello and a happy ne year @bkt,

i think the scaling has to be done in your Ethercat Driver with TwinCAT. I am at the moment in the same situation, the Scaling in the ini/hal or xml has no influence on the moved position in my case.

I try later today to get my position scale under Twincat to match with linuxcnc.

Best regards Sven

Edit: I've tried to set the scaling in my servo driver this afternoon, but It was not really successful. Either I get the axis to move the correct distance, but then my position Feedback is off. If my Feedback is correct the moved distance is off.

Don't have any idea at the moment where to set the scales

I'm in waiting from producer about istructions, because on twincat is not possible see "scaling" parameter .... My ethercat drives is based on canOpen so cia402 .... the worlds to be set to have a correct scaling should be the objects 6091h-01h, 6091h-02h, 6092h-01h only at the moment I can't view them on twincat and therefore neither to write them correctly ... I hope the drive manufacturer gives me the right advice otherwise the drives are completely unusable ..... what a bad luck.

if anyone had suggestions for this .... it would be a good fortune instead.

Regards
bkt

bkt wrote: I'm in waiting from producer about istructions, because on twincat is not possible see "scaling" parameter .... My ethercat drives is based on canOpen so cia402 .... the worlds to be set to have a correct scaling should be the objects 6091h-01h, 6091h-02h, 6092h-01h only at the moment I can't view them on twincat and therefore neither to write them correctly ... I hope the drive manufacturer gives me the right advice otherwise the drives are completely unusable ..... what a bad luck.

if anyone had suggestions for this .... it would be a good fortune instead.

Regards
bkt

Hello @bkt

may i ask you which type/manufacturer your drive is from? Mine are from Rtellligent the ECT60 Series.
I havent found any object where to change the scale too. Or i´ve overseen it.

-Sven