Wago 750-354 EtherCat FC and IO modules

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20 Mar 2023 11:54 - 20 Mar 2023 12:02 #267137 by bobiyu
Greetings, fellow machinists!
I'd like to inform you that I managed to solve the problem with the Wago 750-354 EtherCAT Coupler. The only thing that I had to change was configPdos="false" attribute of the slave tag. Everything's working perfectly so far.
I have also managed to get my Delta ASDA-B3 servo motors and drives up and running thanks to Dominik's HAL-CiA402 component and this forum post from gchesney. Now I only have to figure how to properly set the scale and homing of the axis.
I have tried both position and velocity command but I had luck only with position command. I can't get the axis go past certain speed. LinuxCNC e-stops and gives error that there is joint following error. I'm guessing that maybe my scaling is wrong. Afterall the encoder of this servo motors is insanely dense - 24bit. I use the pulse per revolution constant mentioned in the manual (16777216) to do some testing. However, I feel that there's definitely something I'm doing wrong. I could really use some help.
If there is some example HAL with PID or how to properly setup the scale of the servo I'd really appreciate it. Ia have attachet an archive of my configuration so far.Best regards!
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Last edit: 20 Mar 2023 12:02 by bobiyu. Reason: wrong file

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23 May 2023 20:33 #272056 by foxington
hello getlmens,

delta electronics has same koppler as EK1100 or wago higher www.deltaww.com/en-us/products/EtherCAT-Motion-Control/2204... it is in great price and everything is avaible immediately... looks like little bit different that classic kopps, but works well in many industrial apps yet... has anybody knowledge how to build any type of interpreter for lcec please?

second questions out of this topic ... 
I found in lcnc forum rabithole some of us using .xml configuration by the file.like below
<slave idx="0" type="AX5206" name="AX_X_C">
<!-- IMPORTANT: in this case (sync1Cycle = n * sync0Cycle) sync1Cycle must be appTimePeriod - sync0Cycle) -->
<!-- initCmds filename="xmlneu/AX5206async.xml"/ -->
<initCmds filename="xmlneu/ax5206_startup_fb2.xml"/>
<dcConf assignActivate="730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="750000" sync1Shift="0"/>
</slave>
<slave idx="1" type="AX5805" name="SAFE1">
<initCmds filename="xmlneu/AX5805_from_5206.xml"/>
</slave>
<slave idx="2" type="AX5112" name="AX_Z">
<!-- IMPORTANT: in this case (sync1Cycle = n * sync0Cycle) sync1Cycle must be appTimePeriod - sync0Cycle) -->
<!-- initCmds filename="xmlneu/AX5112async.xml"/ -->
<initCmds filename="xmlneu/ax5112_startup_fb2.xml"/>
<dcConf assignActivate="730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="750000" sync1Shift="0"/>
</slave>

have anybody that file how it looks like inside and what necessary it has to have please?

I am asiking for I am curently working on new lcec component(inspirated from dominik´s cia402) to run older stuff(kollmorgenS300/S700 etc...) on ds402 standard over incremental PDOs.... and I am lazy to customize little more rows in the .xml config... I want to create single file and repeat them by few rows..

thanks

regards foxington

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23 May 2023 21:25 #272057 by db1981
example for initcmd file
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The following user(s) said Thank You: foxington

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24 May 2023 05:08 #272074 by foxington
thanks,

looks like SoE

Is it possible to create this initcmd file for CoE drivers? if yes is there any examples please?

with that delta coupler, do you have any experiences? whats your opion on it please? or should be there any quick way for create working .xml file for it?

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24 May 2023 08:40 #272083 by db1981

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