Ethercat HAL driver

Hi Alex,
yes, this is correct.
The servodrive is in position mode, the close loop is in the drive. You tune the loop in the servoamplifier.
LCNC provide only the targets, the setpoints (in small steps)

But, for a spindle drive, you can also use a drive in velocity mode.

I have look in the doku for the Lexium32, I think, it is the same interface, it will running with the same configuration.

download.schneider-electric.com/files?p_...n_Manual_V105_EN.pdf

regards
Frank

Hi Frank.

Yes the Lexium32 should work as Lexium05.
If the position loop is closed locally on the servo drive means that you are using an open loop configuration , isn't it ?
The CAN profile used from the CANOpen master is the 302 ?
Haven't you tried to use the position closed loop from LCNC and command the servo drives in velocity mode ?
When you are jogging the axis means that LCNC is sending position target as well as during a G code movement ?

Regards

Alex

bigalex wrote: If the position loop is closed locally on the servo drive means that you are using an open loop configuration , isn't it ?

It is not an open loop, "motion" is the setpoint-generator, like a stepper system with position encoder.

bigalex wrote: The CAN profile used from the CANOpen master is the 302 ?

yes

bigalex wrote: Haven't you tried to use the position closed loop from LCNC and command the servo drives in velocity mode ?

no, I think, small loop is better.

bigalex wrote: When you are jogging the axis means that LCNC is sending position target as well as during a G code movement ?

yes, all functions are running, G-Code movement, manual movement, home running .....

regards
Frank

Hi Frank.
Thank you so much for the clear answers.

Ragards

Alex

Me XY table and EhterCAT box

Hello,

I'd like to setup Indradrive servo drivers with LinuxCNC. I was able to follow Roshi's great guide how to do so. It works just fine, so far.

However I am not very experienced with cyclic servo positioning setup and respective HAL file. Can you Roshi please redeploy HAL and XML files? Those URLs you posted earlier are not valid anymore. Thanks.

As far as understand, LinuxCNC controls drive via positioning command every 1ms. How is maintained motor acceleration during that cycle? There is just adaptive acceleration calculated from position control with cyclic command setup on Indradrive? It would be very nice if you can also post Indraworks par file.