HAL CiA402 Drive Interface for Can Bus,Ethercat etc...

Sounds great!
What are your plans with this?
Keep it separate in your code or bring it into mainstream linuxcnc code?

Others may bring it in the main stream.
I am against one off the github policys.
Therefore i stay at Codeberg wich dont use the policy i hate.

Hi everyone.

Does anyone have CSV mode working? I'm running CSP on XYZ without any problems, but CSV on the spindle is just running the drive (Delta C2000 + Ethercat + Encoder) and I can't send the speed/direction signal.

I've spent two days trying to get it running, but to no avail. Also, there is no sample hal/ini file that explains CSV and the spindle.

Thank you. BR,
Pavel

Hi everyone. I have made some progress on 3x Lichuan + 1x Delta C2000. Now I am able to measure the speed when the drive is turned on manually. But still no success with the speed command.

I found that the speed command in HAL CiA402 is 60FF and here in Delta it is 6042. I have tried both, but when I set only 6042 in the XML file, I am not even able to turn on the drive.

Any idea? Thank you. 

 
   

Is that the Delta 2000 CMC-EC01?
There is a manual for download includes a speed demo example.
downloadcenter.deltaww.com/en-US/Downloa...=cdate&sort_dir=DESC

Hi. Yes, but no.

Speed tutorial is there but its just procedure what to send to drive. I have no clue how to implement that to Linuxcnc. 

 Thank you.

Yeah, it seems you can't do that with the standard cia402 component.
It only support csp mode(1) and possibly csv(0), and what I read your device is working in asynchronous velocity mode(2) and that's not supported at least fully.
It's the controlword, obviously, that starts and stops the motor.
Normally the cia402 component has full control over the controlword and that must be now manipulated by setting on and off bit 4-6 (7F vs 0F) for start stop
There is the option to modify the cia402 component, but maybe "easier" to manipulate the controlword
between cia402 component and lcec.

Break the connection between cia402 and lcec controlword and insert something like
if op-enabled (controlword bit 0-3 set) and start pin (new pin)
  set controlword bit 4-6 true
else
  set controlword bit 4-6 false
with hal logic. The resulting controlword connects to lcec.

In addition to that, don't connect any of the cia402 commanded or feedback pins, do the speed setting and speed feedback outside the cia402 component. Basically, the cia402 component will bring the device to op-enabled, that's all. You set the op-mode and all speed settings directly to lcec.

 

Hi. Thanks for the help. It works now. It's not finished yet, but it's a good start.
Here are my files, maybe someone will like it.

​BR Pavel

Looks great! 
A new component for the logic, even the easiest way.
Btw, I noticed my hex to bin conversion was totally wrong, but you get the point with 7F and 0F.