ASD-A2 EtherCAT on LinuxCNC

Hello @jirkam,

I am also a fan of linuxcnc, I hope everything goes very well!

Greeting
Chimeno

Good day.

I have fine-tuned the position control (thanks to a smarter colleague from the forum) and I can do it with an accuracy of a few thousandths. It is super.

But ...

The video "" shows how it goes without any problems.
It's not okay on the video "". It starts to show such errors, which do not affect the milling in any way, but in about 30 seconds of the video it goes to a worse variant - it can be heard on the servos and sometimes it ends with an error.

I know it depends on what's coming from Lcnc. I may have managed to capture this in the image vrceni.png.
This is a situation where the servo growls - the sound is heard and can be seen on the graph.

I don't understand why it sometimes runs for two hours without a mistake, then it growls for two seconds and continues for an hour, ok.
Then there are days when it growls from morning then does not growl for a while.
Other times, after an hour of milling, it starts to growl and Linux bugs crash.

It does it differently in all three axes. It does not depend on the movement of two axes - it only goes in X, for example, and suddenly it starts to growl.

I found no dependence on anything.

Can't think of where the problem might be?

Thank you very much and have a nice day.

Jirka

Hello @jirkam,
I am very glad that it works perfectly for you, it may be that you have some kind of deviation in the synchronism on the clock of the ethercat bus, you can examine the time of lcec in hal using halcope, if this were the problem the solution would be to install the add-tasks -pll-functions-2.8.patch.

Greeting
Chimeno

Thank you so much for the type.
I will definitely try.

Thank you
Jirka

Hi sir, I have a Delta driver with the motor I want to set up for this with linuxcnc through EtherCAT for a small college project can you please help me out. step by step procedure.

Hello, @ Chimeno.
I already had pll-functions-2.8.patch installed.
I set up .xml like this:

<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1">
    <slave idx="0" type="EK1100" name="EK1100"/>
    <slave idx="1" type="EL1819" name="DIN1"/>
    <slave idx="2" type="EL1819" name="DIN2"/>
    <slave idx="3" type="EL1088" name="DIN3"/>
    <slave idx="4" type="EL2809" name="DOUT1"/>
    <slave idx="5" type="EL2809" name="DOUT2"/>
    <slave idx="6" type="EL3064" name="AIN"/>
    <slave idx="7" type="EL4004" name="AOUT"/>
    <slave idx="8" type="EL2622" name="RELE1"/>
    <slave idx="9" type="EL2622" name="RELE2"/>
    <slave idx="10" type="EL2622" name="RELE3"/>
    <slave idx="11" type="EL2622" name="RELE4"/>
    <slave idx="12" type="DeASDA" name="X">
      <dcConf assignActivate="730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="750000" sync1Shift="0"/>
    </slave>
    <slave idx="13" type="DeASDA" name="Y1">
      <dcConf assignActivate="730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="750000" sync1Shift="0"/>
    </slave>
    <slave idx="14" type="DeASDA" name="Y2">
      <dcConf assignActivate="730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="750000" sync1Shift="0"/>
    </slave>
    <slave idx="15" type="DeASDA" name="Z">
      <dcConf assignActivate="730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="750000" sync1Shift="0"/>
    </slave>
  </master>
</masters>

Unfortunately, the servos are still growling.

Can you think of a solution?

Thank you very much Jirka