Ethercat HAL driver

Now i have a little progress update, my drive runs and the scaling is also nearly correct in LinuxCNC the only issue at moment is. A squeeking axis in Linuxcnc. And a not so good control loop under LinuxCNC.

In TwinCAT/Indraworks it moves much better.

Travel distance was ca 100 mm in a endless loop in LCNC & Windows:

TwinCAT Movement

LinuxCNC Movement
LinuxCNC Movement

you've said before that all control stuff is done in the drive, that meens that in linuxcnc there is no pid controller, joint-x-pos-cmd is directly connected to position command pdo.... So the drives behaviour should be as before.

Is there any difference if you control the drive with the indradrive setup functions to the drives behaviour with twincat? (may the twincat control loop makes the movement smooth)

I think that after switching the communcation to coe in indraworks another set of parameters gets active, so this parameters have to get tuned again.

can you please post the terminal output of "ethercat eoe" before and after linuxcnc start.

db1981 wrote: you've said before that all control stuff is done in the drive, that meens that in linuxcnc there is no pid controller, joint-x-pos-cmd is directly connected to position command pdo.... So the drives behaviour should be as before.

Is there any difference if you control the drive with the indradrive setup functions to the drives behaviour with twincat? (may the twincat control loop makes the movement smooth)

I think that after switching the communcation to coe in indraworks another set of parameters gets active, so this parameters have to get tuned again.

can you please post the terminal output of "ethercat eoe" before and after linuxcnc start.

I dont know which OperationMode is selected from LinuxCNC.

In TwinCAT it is Position Control lagless Encoder 1

The ethercat eoe command in terminal gives an error message. I tried it earlier today, as i read the IGH Etherlab master manual. seems it isn´t activated.

this is full control loop in the drive, trajectory output from twincat direct to pos-command.

Twincat control is done after switching to CoE, that meens that this are the same Parameters as for LCNC. Strange...

What is Twincat Base Cycle Time, NC SAF Cyle Time and NC SVB Cycle Time ?

What is the output of "ethercat version" ?

db1981 wrote: this is full control loop in the drive, trajectory output from twincat direct to pos-command. Twincat control is done after switching to CoE, that meens that this are the same Parameters as for LCNC. Strange... What is Twincat Base Cycle Time, NC SAF Cyle Time and NC SVB Cycle Time ? What is the output of "ethercat version" ?

EtherCAT Version replies this: The other things i must boot in Windows and look after it.Hope this is what you meant.

maybe an comm/cycle time issue.

please do an manual ethercat upload after starting lcnc, to check the values of sdo's
-0x1006 Index 0
-0x60C2 Index 1
-0x60C2 Index 2