Hi Oscar,
it supports DC for any device that supports DCs. Please find here an example for a machine with stoeber servo inverters:
Code:
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
<slave idx="0" type="EK1100"/>
<slave idx="1" type="EL1008"/>
<slave idx="2" type="EL1008"/>
<slave idx="3" type="EL1008"/>
<slave idx="4" type="EL2008"/>
<slave idx="5" type="EL5101"/>
<slave idx="6" type="EL9510"/>
<slave idx="7" type="EL3162"/>
<slave idx="8" type="EK1100"/>
<slave idx="9" type="EL1008"/>
<slave idx="10" type="EL1008"/>
<slave idx="11" type="EL1008"/>
<slave idx="12" type="EL1008"/>
<slave idx="13" type="EL1008"/>
<slave idx="14" type="EL2008"/>
<slave idx="15" type="EL5152"/>
<slave idx="16" type="EL2008"/>
<slave idx="17" type="EL2008"/>
<slave idx="18" type="StMDS5k">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-25000"/>
<watchdog divider="2498" intervals="5000"/>
</slave>
<slave idx="19" type="StMDS5k">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-25000"/>
<watchdog divider="2498" intervals="5000"/>
</slave>
<slave idx="20" type="StMDS5k">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-25000"/>
<watchdog divider="2498" intervals="5000"/>
</slave>
<slave idx="21" type="StMDS5k">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-25000"/>
<watchdog divider="2498" intervals="5000"/>
</slave>
<slave idx="22" type="StMDS5k">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-25000"/>
<watchdog divider="2498" intervals="5000"/>
</slave>
<slave idx="23" type="StMDS5k">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-25000"/>
<watchdog divider="2498" intervals="5000"/>
</slave>
</master>
</masters>
First you need too tell the master to sync its clock to the slaves:
Code:
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
where appTimePeriod has to match the servo period (in ns) and refClockSyncCycles tells how many servo periods to skip between the actual syncs (This sould not be too low to smooth the jitter).
Then you can configure the sync for each device:
Code:
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-25000"/>
assignActivate is the hex code from the device's device description xml, sync0Cycle "*1" means to sync on every cycle and sync0Shift is the sync offset (in ns) to reduce the impact of jitter.
What kind of inverter do you plan to use? You can use the generic driver to interface that device (please see one of my earlier posts for an example), but real fun will appear if you build an native driver module for a particular inverter that do all the dirty work like scaling, reading SDOs on initialization and exporting pins with the domain specific data types. The lcec_stmds5k.c or lcec_el7342.c might be good starting points for that (stmds5k is the stoeber inverter and el7342 a dc motor driver with encoder fedback).
Regards
Sascha
