LinuxCNC on Raspberry Pi talking CiA402 through CAN Bus using mcp2515 chip

Hello,

I'm an absolute beginner when it comes to linuxcnc, it is still very opaque for me but I'm eager to learn and am going to give it a try using the great tutorial in the LinuxCNCKnowledgeBase that I stumbled upon on how to run linuxcnc on a Raspberry Pi.

My goal is to be able to use an EPOS4 (Maxon) servo driver with a Raspberry Pi running linuxcnc. The driver talks CiA402 over a standard CAN bus (not EtherCAT). Acces to the CAN Bus would be granted by a MCP2515, connected through SPI to the RPI.
I could not find anyone that did something like this, and am looking for someone with the expertise to get me on the tracks.

What I could gather :
There is a CiA402 component already exisiting for linuxcnc, but I have no clue on how to use it
The socketcan driver is not realtime capable which could be troublesome
A RPI 4 should be able to run linuxcnc smoothly

Where I'm at :
Trying to run a simple instance of linuxcnc on a rpi 4 to get to learn it
Asking for assitance

Thanks a lot for your help and guidance !

CMC


 

I've been looking at this too but my drives are still in transit.

This was a useful thread for installation
forum.linuxcnc.org/ethercat/22346-etherc...ver?start=950#186833

Hakan has some good resources with cia402 drives
forum.linuxcnc.org/ethercat/22346-etherc...er?start=1220#207200
forum.linuxcnc.org/ethercat/42048-notes-...aspberry-pi-4#203806

Hes using rtelligent ECT60 drives. I helped somebody get some ECT86 drives going in the last week or so. Just a bigger version of ECT60
I want to look at homing using the internal features but I suspect I will need to modify homing.c to do that.