Ethercat HAL driver

I did some basics today. So this is where you can start.

This is client /server socket setup. I will test tomorrow with some data.

Best Regards  udo

Well , that is what it looks now.

hello guys,

Is here any possible way to run these next drivers - 

Kollmorgen S300/S700
Danaher S300/S700
Telemecanique(Schneider electric) LXM 15, etc..
Kollmorgen S400/S600
Danaher S400/S600
Beckhoff AX2000, AX2003, etc...
Telemecanique(Schneider electric) MHDA, etc..

under ethercat please? I found NO possibility to turn it on to CSP mode. There is just supported next modes :

0x6060 register and values

hex    name
80 Digital velocity control mode
81 Analogue velocity control mode
82 Digital current control mode
83 Analog current control mode
84 Electronic gearing
85 reserved
86 reserved
87 reserved
88 Motion task mode
1 Profile position mode
3 Profile velocity mode
4 Profile torque mode
 Homing mode
7 Interpolated position mode

thanks Slav

Sorry foxington; What do you mean by next drivers- 
and what drive do you want to connect; 
 

Hello,

you can use any of these drives.
the simplest and fastest way would be to use them in Velocity control mode with the position pid implemented in linuxcnc.

with a little bit of research, interpolated position mode should behave similar to csp mode.

Hi foxington: Please have a look here in particular chapter 8.5 Cyclic sync pos mode.
CiA directive goes for all communication protocols. Also for ether-CAT's.

www.ethernet-powerlink.org/fileadmin/use...EPSG_V_0_0_2__1_.pdf