Ethercat HAL driver

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

@Chimeno

i tested the 0x2020 parameter about a day ago, i´ve set it to 666 pulses per revolution the value was 4000 pulses per revolution my Ballscrew/KR33 Axis has a pitch of 6mm per revolution 4000/6=666.6666666666667

after setting this the motor wasnt able to run anymore under linuxcnc, it stalled momentarily, and made squeeking/scratching noises as i commanded him to move. so i set them back to 4000 cpr.

greets Sven

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 ....:dry:

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

Hi,

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

Have you checked the manufacturer's website for the latest version of the servo's .xml file? Also, look in this file for the objects that you are interested in. I wouldn't make any changes to this file but at least you can see which objects are available. If the amp is supposed to be compliant with the CIA 402 profile than it seems odd that the standard objects would not be available.

Kind regards,
Dan

Well I finally got my ECT-60 scaled. I am using 5mm pitch leadscrew so 300RPM = 1500mm/M. After rereading the manual i noticed that Target Velocity and Target Position are in pulses!!! LinuxCNC uses machine units. So at 4000 pulses per revaluation from the manual I get 800 pulses for 1mm. I don't know why 4000 pulses because the motor description say 1000 count encoder. my guess is microstepping in the drive.

<!-- Target Position -->
<pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="TargetPosition" halType="float" scale="800"/>
<!-- Target Velocity -->
<pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="TargetVelocity" halType="float" scale="800"/>

I have this test drive at the office. Have not tried at home with multiple drives.

MRBaird wrote: I don't know why 4000 pulses because the motor description say 1000 count encoder. my guess is microstepping in the drive.

Scroll down to the middle of the page, there is the explanation why 1000 pules of the quadrature encoder make 4000 counts, servo drives do not use microstepping.
www.dynapar.com/technology/encoder_basics/quadrature_encoder/

MRBaird wrote: Well I finally got my ECT-60 scaled. I am using 5mm pitch leadscrew so 300RPM = 1500mm/M. After rereading the manual i noticed that Target Velocity and Target Position are in pulses!!! LinuxCNC uses machine units. So at 4000 pulses per revaluation from the manual I get 800 pulses for 1mm. I don't know why 4000 pulses because the motor description say 1000 count encoder. my guess is microstepping in the drive.

<!-- Target Position -->
<pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="TargetPosition" halType="float" scale="800"/>
<!-- Target Velocity -->
<pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="TargetVelocity" halType="float" scale="800"/>

I have this test drive at the office. Have not tried at home with multiple drives.

Thanks for the information, so that means that my ballscrew with 6mm pitch has a scale of 4000/6 = 666.666...

Hm i will try it tomorrow.

Seems a good start.

May i ask you how scaled the feedback from the ECT?

tommylight wrote:

MRBaird wrote: I don't know why 4000 pulses because the motor description say 1000 count encoder. my guess is microstepping in the drive.

Scroll down to the middle of the page, there is the explanation why 1000 pules of the quadrature encoder make 4000 counts, servo drives do not use microstepping.
www.dynapar.com/technology/encoder_basics/quadrature_encoder/

The ETC60 is not a Servo, it is a Closed-Loop Stepper with EtherCAT interface from my understanding.
Right the disk has 1000 increments but from counting the rising and falling edges on 2 channels you get 4000 counts per revolution.