RTelligent EtherCAT Servo Drive Setup: RS750E

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MTate01
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21 May 2025 08:12 - 21 May 2025 08:22 #328849 by MTate01

RTelligent EtherCAT Servo Drive Setup: RS750E was created by MTate01

Good day

I am currently trying to configure my linuxcnc to communicate with an RTelligent (Shenzhen Ruitech) RS750E AC Servo Drive.

So far, I think I've correctly compiled an ethercat-conf.xml file for the single slave (for now) (from here) but am struggling with any further steps. I can successfully read registers (ie cia-controlword) and things like that, I can attempt to write them - by setting pins eg setp lcec.0.0.cia-controlword 15, but there is no change in cia-statusword. The same applies for opmode.

Additionally, my drive never seems to exit PREOP. sudo ethercat states -p0 OP doesn't change state from PREOP. I figure that there is something I might need to do with registers, either in a specific order, or through the PC software (RSConfigurator), but the latter is rather confusing and i've had no success attempting such. I can change it to and from INIT (without errors) to PREOP (without errors), but as soon as I try SAFEOP or OP it stalls back to PREOP and has an error flag. I assume this means my XML might be wrong.
I've also attempted to set up my ethercat.hal and changed the joint/axis info in my axis-edited.ini, but still no change occurs on the drive or servo.

I cannot find any documentation on these AC servo drives from RTelligent here, but I will also be sending their support a ticket to see if they can help me. The appropriate files are below:

ethercat-conf.xml:

[code]<masters>
 <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
  <slave idx="0" type="generic" vid="00000A88" pid="0a880013" configPdos="tru>
    <!-- Joint 0 -->
    <syncManager idx="0" dir="out">
    </syncManager>
    <syncManager idx="1" dir="out">
    </syncManager>
    <syncManager idx="2" dir="out">
      <pdo idx="1600">
        <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword">
        <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="target-position">
        <pdoEntry idx="60b8" subIdx="00" bitLen="16" halPin="touchprobefuncti>
      </pdo>
      <pdo idx="1601">
        <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword0>
        <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="target-position0>
        <pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="target-velocity">
        <pdoEntry idx="6083" subIdx="00" bitLen="32" halPin="target-accel" ha>
        <pdoEntry idx="6084" subIdx="00" bitLen="32" halPin="target-decel" ha>
        <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType=">
      </pdo>
      <pdo idx="1602">
        <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol2" h>
        <pdoEntry idx="6083" subIdx="00" bitLen="32" halPin="accelcommand2" h>
        <pdoEntry idx="6084" subIdx="00" bitLen="32" halPin="decelcommand2" h>
        <pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="targetvelocomman>
        <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="modeofoperation2">
      </pdo>
    </syncManager>
    <syncManager idx="3" dir="in">
      <pdo idx="1a00">
        <pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halTy>
        <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" >
        <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" h>
        <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position">
        <pdoEntry idx="60b9" subIdx="00" bitLen="16" halPin="touchprobestat" >
        <pdoEntry idx="60ba" subIdx="00" bitLen="32" halPin="touchprobe1pos" >
        <pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digitalinputs" h>
      </pdo>
      <pdo idx="1a01">
        <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivecontroltx1">
        <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="modeofoperationtx>
        <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-velocity">
        <pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digitalinputs1" >
      </pdo>
    </syncManager>
    <dcConf assignActivate="300" sync0Cycle="1"/>
  </slave>
 </master>
</masters>

a modified ethercat-conf, with the same results:

[code]<masters>
 <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
  <slave idx="0" type="generic" vid="0x00000A88" pid="0x0A880013" configPdos="true">
   <syncManager idx="2" dir="out">
    <pdo idx="1600">
     <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword"/>
     <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position"/>
    </pdo>
   </syncManager>
   <syncManager idx="3" dir="in">
    <pdo idx="1A00">
     <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword"/>
     <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position"/>
    </pdo>
   </syncManager>
   <dcConf assignActivate="300" sync0Cycle="1"/>
  </slave>
 </master>
</masters>

ethercat.hal:

[code]loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
addf lcec.read-all servo-thread
addf lcec.write-all servo-thread

setp lcec.0.0.opmode 8
setp lcec.0.0.cia-controlword 15
setp lcec.0.0.opmode 8

[/code][/code][/code]

Last edit: 21 May 2025 08:22 by MTate01.

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Hakan
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21 May 2025 08:49 #328851 by Hakan

Replied by Hakan on topic RTelligent EtherCAT Servo Drive Setup: RS750E

Typically you want to use the cia402 component with such a drive.
The cia402 component is in your installation already, here is an
example of how to set it up in hal.
github.com/dbraun1981/hal-cia402/tree/main/example

The following user(s) said Thank You: MTate01

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MTate01
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21 May 2025 12:59 #328856 by MTate01

Replied by MTate01 on topic RTelligent EtherCAT Servo Drive Setup: RS750E

Thanks for the reply - didn't get a notification of it, sorry for taking a little while to respond.

Okay noted, I will do my best to configure a cia402.hal file instead of the method i've been doing it...

but good news is that i've been able to move the drive to an "OP"erational state. very happy with even this little progress haha. will post my cia402.hal once i've got it to compile.

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Hakan
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21 May 2025 21:01 - 21 May 2025 21:01 #328877 by Hakan

Replied by Hakan on topic RTelligent EtherCAT Servo Drive Setup: RS750E

Yes ethercat OP state is one thing, cia402 enable state is another thing (on top of OP state)
Linuxcnc need to go through every step to enable the drive. Skipping steps or shortcuts are not allowed.
But I have never worried about that, the cia402 component does that automatically.

Last edit: 21 May 2025 21:01 by Hakan.

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MTate01
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22 May 2025 06:17 #328894 by MTate01

Replied by MTate01 on topic RTelligent EtherCAT Servo Drive Setup: RS750E

hi Hakan,

Thanks for the recommendation to move to cia402 - the drive runs and i can at least move the motor! I feel like I might have taken some weird workarounds trying to chase linuxcnc compile errors, so I probably need to touch on whether these are "acceptable" - perhaps you can comment on the below?
ethercat-conf_n.xml:

<masters>
 <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
  <slave idx="0" type="generic" vid="00000A88" pid="0a880013" configPdos="true">
   <!-- Joint 0 -->
   <syncManager idx="0" dir="out"> </syncManager>
   <syncManager idx="1" dir="out"> </syncManager>
   <syncManager idx="2" dir="out">
    <pdo idx="1600">
     <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
     <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
     <pdoEntry idx="60b8" subIdx="00" bitLen="16" halPin="touchprobefunction0" halType="bit"/>
    </pdo>
    <pdo idx="1601">
     <pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="profile-velocity" halType="u32"/>
     <pdoEntry idx="6083" subIdx="00" bitLen="32" halPin="target-accel" halType="u32"/>
     <pdoEntry idx="6084" subIdx="00" bitLen="32" halPin="target-decel" halType="u32"/>
     <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
    </pdo>
    <pdo idx="1602">
     <pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
    </pdo>
   </syncManager>
   <syncManager idx="3" dir="in">
    <pdo idx="1a00">
     <pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halType="bit"/>
     <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
     <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
     <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
     <pdoEntry idx="60b9" subIdx="00" bitLen="16" halPin="touchprobestat" halType="bit"/>
     <pdoEntry idx="60ba" subIdx="00" bitLen="32" halPin="touchprobe1pos" halType="s32"/>
     <pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digitalinputs" halType="s32"/>
    </pdo>
    <pdo idx="1a01">
     <pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
    </pdo>
   </syncManager>
   <dcConf assignActivate="300" sync0Cycle="1000000"/>
  </slave>
 </master>
</masters>

and ethercat.hal:

loadusr -W lcec_conf ethercat-conf_n.xml

loadrt lcec
loadrt cia402 count=1
loadrt pid names=x-pid

##########################################

addf lcec.read-all servo-thread
addf cia402.0.read-all servo-thread

#addf motion-command-handler servo-thread
#addf motion-controller servo-thread

addf x-pid.do-pid-calcs servo-thread

addf cia402.0.write-all servo-thread
addf lcec.write-all servo-thread


#######################################

#net emc-enable => iocontrol.0.emc-enable-in
#sets emc-enable 1

setp cia402.0.csp-mode 1
setp cia402.0.pos-scale 3600000000

#from servo to cia402:
net x-statusword     lcec.0.0.cia-statusword     => cia402.0.statusword
net x-opmode-display lcec.0.0.opmode-display     => cia402.0.opmode-display
net x-drv-act-pos    lcec.0.0.actual-position    => cia402.0.drv-actual-position
net x-drv-act-velo   lcec.0.0.actual-velocity    => cia402.0.drv-actual-velocity

#from cia402 to servo
net x-controlword        cia402.0.controlword         => lcec.0.0.cia-controlword
net x-modes-of-operation cia402.0.opmode              => lcec.0.0.opmode
net x-drv-target-pos     cia402.0.drv-target-position => lcec.0.0.target-position
net x-drv-target-velo    cia402.0.drv-target-velocity => lcec.0.0.target-velocity

net Xpos => cia402.0.pos-cmd
#net x-pos-fb => joint.0.motor-pos-fb <= cia402.0.pos-fb

#from motion to cia
net x-enable    <= joint.0.amp-enable-out => cia402.0.enable
#net x-pos-cmd   <= joint.0.motor-pos-cmd  => cia402.0.pos-cmd

#from cia to motion
#net x-amp-fault => joint.0.amp-fault-in   <= cia402.0.drv-fault
#net x-pos-fb    => joint.0.motor-pos-fb   <= cia402.0.pos-fb

#homing
net x-home-index <= joint.0.index-enable  => cia402.0.home

note with the above: I had to comment out quite a few lines to avoid having to go "deeper" into ini files to remove errors from occuring... one such example was with the cia402.0.motor-pos-fb and cmd, I had errors stating that they were already linked to Xpos - so I just "reassigned" them. basically any line in the above that is commented out is just due to an error. definitely also need to uncomment the fault reporting...

next step for me is to set up a physical axis where I can test homing and rotation distance of a ball screw etc. and get an IO board working

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