LinuxCNC and Beckhoff AX5000 servo drives

This is very interesting. Thank you for your efforts.
Could you elabroate a bit on this?
Where do the ax5106.xml/ax5203.xml originate from? A TC3 dump? If so, from where?
In which tool did you setup your motor? TC3 and then export?

just create a project in the TC3 ... setup all stuff as DC, SDOs PDOs, task cycle, names of everything ... everything will be written in the .xml of master export ... there it will be right stuff and there will be probably nothing to customize ... 

download the tool ... launch them .. write "complete" or "c" .. then drag and drop .xml export and everything what is needed to have in the .xml file will be created in the new ethercat-conf.xml automaticly .. then just connect everything in the .hal file

AX5xxx is SoE .. you will have to create custom hal driver for them probably... I do not have experiences with them at all

I do not know what which "ax5106.xml/ax5203.xml" you mean..

motor you need to tune in the beckhoff drive manager which is part of the TC3 ... it motor is in the catalogue, no extra tunnig is necessary

 

Or share your tc3 project configuration by the archive them ... Then I can check them

I am still working on the Hardware. Had a hell of a time with the M23 connectors and the data sheets for old Harmonic Drives. Should be able to get it working electrically this week. Next step is commissioning in TC3 (which I have never done) to check the config for validity.

deedee wrote:

Hi,

i've got the AX5106 and A5203 up and running. db1981 helped al lot regarding the homing and pos_mode issues.
The project itself is still work in progress, but the main features are working. See attached files. These are the relevant snippets from *.hal: [..]

 

Hi deedee: Are the referenced ax5206.xml and ax5203.xml in the ethercat-config.xml the files attached or are they different ones?

Thank you very much endian for this converter, I used it and the output "ethercat-conf.xml" file seems correct.