Launching Delta C2000plus + CMC-EC01 in Cyclic synchronous position mode

This turned out to be quite a complex task. Firstly, you need firmware version 3.07 and board version 3.00 for the EtherCAT to work at all. But even with these, there are issues. I tried to run the drive in cyclic synchronous position mode and profile position mode, but so far nothing has worked. The drive is recognized, it reads the encoder position. I even calculated the necessary scale. It powers on and holds the position, but does not respond to the target position. I set the parameters for max speed and max torque. I tried through TwinCAT and LinuxCNC. Most likely, another parameter needs to be set besides 0-20 and 0-21.
I set a few more parameters to get the encoder working correctly, and maybe something else needs to be set?
Does anyone have experience starting this drive?

Thank you all for your help.

I managed to find out that this drive works in Cyclic Synchronous Position Mode when using the EMC-MC01 card, which in turn works with Tamagawa encoders that have Data+ and Data- wires and power +/-. (Without the Clock signal!!!)
It is unclear if such cards are available for sale, as I have not yet found a price for them. However, they are mentioned in several documents. I will inquire with the dealer whether such a card exists and if it can be purchased now.

For now, I can only work (in position) with this drive in Profile Position Mode (6060 = "1").
I hope this information will be useful to someone

Hey there Roslyak,

I'm having problems getting CSP mode working on the same drive too. Did you end up having any success with your configuration?

From what I can see, the control word PDO is not being passed properly and it never enables the voltage (control word = 1, I believe) and the motor does not spin, even though I hear its capacitors buzzing. In the HAL config I see the control mode pin becoming 0x0000000F, which doesn't seem correct, yet it does become 0x00000002 when I stop the (unsuccessful) movement, so quick stop works. Otherwise the drive enters OP mode properly.

The encoder feedback is also 0 at all times, but I'm wondering if that matters at all, considering not even the control word is in working order.

Would you mind sharing your XML so I can see if I've even got mine set up properly? From what I can gather, the PDOs of the DELTA drive change depending on what mode the EC master puts it in, so that is a bit confusing for me.

I considered ordering the EMC-MC01 card too, but my encoder is a sin/cos incremental one. Looking at its PG pin documentation, I am having doubts if I will be able to even connect my encoder to it, as the card only has 4 active pins (my encoder has 9+).

The PG card I have right now is the EMC-PG01H, which should work for sin/cos encoders, yet I'm not sure if it supports CiA402 communication.

I seem to have no good option - either a PG card that supports my encoder, but doesn't support CiA402, or a PG card that supports CiA402, but doesn't support my encoder...

EDIT: Do you mind also sharing the exact Tamagawa encoder you have? I have little experience with them so it would be great to know if I can figure out if an adapter of sorts that could solve my issue exists.