Ethercat HAL driver

Hello @jc2ktr

can you publish the .xml configuration file? I'll take a look at it

After studying a little, mode 8 is position by synchronism therefore the way to act is this:

0x1A00 TXPDO1
-the status register is 0x6041
-the position is 0x6064

0x1600 RXPDO1
-the control register is 0x6040
-register 0x6060 send operation mode 8
-send position to register 0x607A

Greeting
Chimeno

@Chimeno

i added my .XML as attachment.

Hello @jc2ktr

Could it be that registers of more than one bit cannot be registered in bit mode?
you rectified the file you can try??

I am also not very clear about the SDO record in that format is correct, I think it is better to configure the value by PDO and simply register it with HAL
also the value should be equal to the servo thread value

Greeting
Chimeno

Hi all,

We have converted our cnc router to ethernet. But we are struggeling quite a bit with the tuning of our machine.
The machine running internal feedback, so no encoders on the stepper motors. We have kept the original drives and used EL2521 to generate the STEP and DIR signals.

The problem that we see is when we increase the MAX_ACCELERATION above a certain point, we are seeing oscillations in the movement. Only decreasing the P values will remove these oscillations which will increase the following error.

Does anyone have an example on a working config for EL2521 or knows what we are doing wrong?

I have included our configs

chimeno wrote: Hello @jc2ktr

Could it be that registers of more than one bit cannot be registered in bit mode?
you rectified the file you can try??

I am also not very clear about the SDO record in that format is correct, I think it is better to configure the value by PDO and simply register it with HAL

Code:

setp lcec.0.7.opmode 8

also the

Code:

appTimePeriod

value should be equal to the servo thread value

Greeting
Chimeno

Hi @Chimeno,

thanks for your help, that did it, i got all the slaves OP. Can enable the drive and readout the actpos.

But when i try to jog de Axis does not move. Somewhere i missed something to connect in my HAL file.

Hello @jc2ktr,

how good it works with linuxcnc !! I attach the modified file with a correction.

You have different settings and you have to enable one, for example number 1 why are you using the TXPDO1 and RXPDO1 registers

Hello @RobinTheunis
I've never used the device, but studying a bit, there are some configurable HAL parameters, I don't know if this can help.
Greeting
Chimeno