EtherCAT: How to use the dedicated OmrG5 lcec driver?

Thanks for your very god work.
Iam now able to move my servo.

How did you change the scaling of the Encoder?
for me are
ENCODER_SCALE
INPUT_SCALE
SCALE
and so on, not working.

Found the solition, its in hal
Pos.scale 262144

Glad you got it working!

Today Sascha ("sittner") accepted my pull request into his linuxcnc-ethercat repo, so now users of Omron G5/Accurax EtherCAT drives can use that repo again, and keep up to date with his driver. Yay!

new reopo works fine.
I want to use an g5 servo as spindle motor.
has someone managed the same, and can post his files?

Or can someone tell me how to do that?

Unfortunately the driver currently only supports cyclic synchronous position control (and I will not have time to look into extending it any time soon).

You'll probably have to configure the drive for cyclic synchronous velocity mode (0x6060 <- 9), and setup the "Sync Manager" in the drive for some PDO mapping that contains target and actual velocity (e.g. 259th PDO: 0x1C12 <- 0x1702, 0x1C13 <- 0x1B02).

See the G5 EtherCAT User's Manual, sections "Sync Manager Communication Objects" and "Process Data Objects".

You cannot do this with the OmrG5 driver (not without doing some coding at least), so unless you want to & can code you'll have to set it up as a "generic" device in the ethercat xml file (type="generic"). I'm not sure on the exact details; better ask in the "Ethercat HAL driver" thread.

Here's an example .xml file that should give some clues at least: github.com/sittner/linuxcnc-ethercat/blo...ex/ethercat-conf.xml

@arvidb

Awesome... once again, thanks for doing the G5 as you saved me a lot of work down the road. Super glad Sascha accepted your pull.


Robert