Ethercat HAL driver

bkt wrote:

@sven ... my drives are Chinese too, but before complaining and saying that the assistance and manuals are bad I would like to give them the benefit of the doubt and wait for their end-of-year parties to end and finally back to the office to answer mine requests. Up to now I have been happy with them .... I tried their ethercat and I'm having problems, but I don't usually use ethercat in my work .... so maybe the cause is mine..... but I use different china drive type and brand .... however it is Chinese practice, and I think they have learned from the Japanese for this, consider the manual a kind of optional .... if you need a specific one you have to request it ... too often I have found some facts just for me ... .. also from famous Japan brands .... it seems to me that the user manual is a wholly European and American habit .... some mail makes a user complained of bad control on vdf thoshiba .... I guess he didn't ask the specific manual of the modbus .... Japanese "transcribe their secrets and most lustful commands" on the field bus in general (even ethercat or other) ..... this just to talk with friends.

Regarding my drives obviously if they don't give an answer I'll be happy to do bad publicity here on the forum.

in each case they are ethercat cia402 compliant drives, therefore objects 6091 subidx01 and 02 and 6092 subidx 01 and 02 should keep the gear ratio in memory so that the control units and encoder units can match .... now how now if I try to ascribing this from xml is not accepted (but this would also be correct, the values should be permanently written in eeprom) and from twincat I don't see the registers. I believe at this point that I need a software from the manufacturer. Your ET60 must be the same I think .... but your manual is not online on producer sites I see .... so that ssnz a well written manual is impossible to know how things are, for you as well as for me.

regards
btk

I foud your manual here :)) forum.linuxcnc.org/24-hal-components/223...mkjlovaxfw&start=910

I see your problem .... nothing about gear scaling or scaling on manual .... :pinch: :pinch: and in xml many references to modbus world .... I have the supect you must set scaling parameter via modbus .... than you can use axis correctly.

regards
bkt

chimeno wrote:

Hello @jc2ktr
-Have you used the manufacturer's program to find the appropriate values?
* you need to configure the engine parameters, I assume you are using an ECT60


When configuring in position mode, linux no longer has control over the diver, it only sends position and reads position, you have to apply the scale here

<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscmd" halType="float" scale="1000"/>

<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actpos" halType="float" scale=".001"/>

<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscmd" halType="float" scale="1000"/>

<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actpos" halType="float" scale=".001"/>

chimeno wrote:

Hello @jc2ktr
If it may be a good idea to send an email if they can help you,
can you check this if the scale changes?

Greeting
Chimeno

jc2ktr wrote:

bkt wrote:

@sven ...
I have the manual, but it's sometimes little confusing

I see the manual you are in right. i think 6091 and 6092 composed from 2 index each maybe not exist because not present on firmware of manufactorer. Is possible .... but not a good things because if it is CIA402 compliant it must exist. So these is an issue of manufactorer ....

In my cases it these registry it exsist but I not understand how to write in it, plus in twincat is not possible to see these registry, only from driver display, but not understat how to write in it. If I use a sdo the drive go to in error as if I had made a mistake in calculating the numerator and denominator of the reduction ratios that must be entered in those registers. ..... plus in manual is not present a right procedure to write in it or see it in twincat.

@Chimeno .... real thanks ... you are in right "pdo idx=1A00" is the right one ..... but these driver accepts 1A03 too if I add some pin read for velocity and torque..... I try to change into 1A00 but I think I try it some mounth ago without success .... Any how if try to change 6064 scale I obtain every time follow error from linuxcnc at startup .... I think because impossible to set 6092 & 6091 registry in drive firmware.

regards
bkt

I think 6091 and 6092 composed from 2 index each maybe not exist because not present on firmware of manufacture