Ethercat HAL driver

I add these to previous reply to db1981

Hello,

now it is clearer for me. sorry may be i have understanding problems because of my own rusted english interpreter.....

facts:
-you want to command the drive in cyclic position mode
-control loop in the drive, no pid in linuxcnc
-setting the electronic Gear ration in the drive doesn't work at the moment
-you can enable the drive, the drive reacts correct to the commanded position

your actual problem ?
-feedback scaling in linuxcnc is not correct ?
-the feedback gets worse after some point in movement (~37.5 degree)?

db1981 wrote:
your actual problem ?
-feedback scaling in linuxcnc is not correct ?

To answer this: my real problem = I don't understand how it is possible to have a scale of 14000 or 14 since there is the problem of the 1/1000 scale in the generic drive due to decimals. But now that I read your answer I realize that I have to check the electronic gear set by default on the drive and see if the scale of 14 added to the default electronic gear can somehow correspond to the mechanical reduction of 37.5 motor revolutions for have 1 turn of my axis or 360 °. So more than a problem is the will to understand better.

Today, however, I have a second more serious problem .... two out of 3 drives no longer go into run mode .... they go to OP and then by putting an axis in run Lcnc (the first of the ethercat chain) it also goes into run and it I can move, the others remain ready but I cannot move them. If I launch from the terminal (with Axis gui working) "ethercat slaves -v" I don't see anything abnormal except that beyond the slaves "0" (first working drive) I have a "DC system time transmission delay: 0 ns", slaves "1" (second no-working drive) I have a "DC system time transmission delay: 640 ns" .... and the third slaves are at "DC system time transmission delay: 1280 ns" which seems to me to be high times ..... I report the result of the terminal if someone sees anything else that is anomalous that I do not see.

erroneous double post

i have checked your config, and checked the source of the generic modul. There is nothing wrong with the scaling. Seems to be an drive config issue. Are this absolute encoders?

About dc conf, did you changed anything in your System?
Which Linuxcnc Version? Rip Install? ethercat from SITTNER?

In your ethercat_conf there is "Busklemme" Do you speak German?

No I don't speak German but a long time ago at school we used to call the plc parts with German names .... an original trend of our teachers. So I can say busklemme, ausgang, eingang and a few other similar terms ...

About version is a rip-install on mint: Linux mine 4.19.1-rt3 #1 SMP PREEMPT RT Thu Aug 13 09:31:04 CEST 2020 x86_64 x86_64 x86_64 GNU/Linux

Having said that you are right: I just tried the configuration with other drivers just out of the box .... everything works fine with those. Both if I use a dc conf like the one I transcribed but also if I use a different one.

I must have obviously messed with twincat 3 scope view or twincat configurator .... the real problem is that I don't know how. I am not familiar with twincat that I have only used a few times in my life and 5/6 years ago now on VS2017 everything is a little different.