Using BoschRexroth Drives with LinuxCNC

Hello Community,

I found it interessting that it is possible to use industrial Servo Motors and drives with LinuxCNC.
So I post here my first approaches towards a machine which use "industrial" servos.

Features:
- pos and speed command send over bus to drives (1kHz)
- pos, speed and cirrent control loop on the drive
- high resolution encoders

My Setup:
- Thinkpad T60
- Bosch Rexroth Indra Drive Cs (drives, any Indradrives with EtherCAT would work, Indradrive Cs on web )
- Bosch Rexroth Indra Dyn S MSM (motors)
- Beckhoff EK1100, EL1004, EL2004
- EtherCat Softmaster from igh-essen.com (www.etherlab.org)
- HAL drive for EtherCat from (S. Ittner, www.modusoft.de) (see: link1 , repos , related post from S. Ittner )

View first demonstration video on
Video on Youtube

Best regards
Andreas

Comments, Questions?