Linuxcnc with Mesa 7i76e and Delta ASDA-B2 Servo Drives

Yes, it could've ended much worse. Luckily there was a bystander with a medical background who stabilised me before the ambulance arrived. 
Now it's a matter of basically resting for 8-12 weeks with some kind of cage around my head. 

Thanks, I might actually have a Rasmi filter for the Omron VFD!. Seems like they have specific ones for servodrives, Yaskawa in this case but that shouldn't make a hugh difference I suppose. I will contact them to make sure.
rasmi.com/product/rs-1004-sg/

After reading more and more it slowly starts to become more clear. Also found some example configurations which are very close to how I would like to set it up. 

For the encoders, I have the 7i85 card to connect them. 
The Delta A2-L drives can take a glass scale directly, for this you need the L version specifically. It's very difficult to find information about it though. Also from Delta themselves I can't get a lot of info. But I want to try it atleast. When I have it working I want to document it for anyone else, future use.
And then you use the output of the drives back to the 7i85 card to feed Linux with the actual position, but only as information I guess and maybe setting a maximum deviation. But that will need some testing when I'm at that point. 

P1-Engineering wrote:

The Delta A2-L drives can take a glass scale directly, for this you need the L version specifically. It's very difficult to find information about it though.

In that case it might be best to leave the drives as a velocity-mode step=dir drive and close the position loop in LinuxCNC using the scales. (You could also experiment with position-position mode too, where the LinuxCNC PID is almost 100% FF0 and has just a hint of I-gain to pull in the last few microns.

Got a super fast response from Rasmi, they have a specific filter for the ASDA drives.
Highly appreciated Andy!

You might try to contact the Delta support if you need some help, they were very supportive in the past for us.

Yeah I received some support from them regarding the closed loop function of the drives.
Also found the login details to Delta's FTP server which has all the needed support documents.

Currently busy getting everything ready for testing on one of those small CNC1419 toy machines I bought just to check all the functions and macros before I convert the production machine. Getting the homing to index to work has been a challenge thus far.

I'm in the process of installing a set of Delta B3 servos and came across your detailed post.

What in LinuxCNC/HAL did you map the SRDY (servo is powered on, no alarm) signal to?

H2B wrote:

Drive outputs, which are digital inputs to the Mesa board:
SRDY (servo is powered on, no alarm)
ALRM (servo has tripped an alarm, machine must stop)
BRKR (brake control output from the drive, used to drive a relay controlling the servo break on my Z axis)

Drive inputs, which are digital outputs from the Mesa board:
SON (switch servo on - basically an enable signal to the axis, and not the enable signal from the stepgen commands)
ARST (alarm reset, when estop is lifted, to clear any alarm flags on the drive)
EMGS (send the servo an estop command, which should be common to all axes simultaneously)
NL (reverse inhibit limit - for axes hard limit at min position)
PL (forward inhibit limit - for axes hard limit at max position)