Ethercat HAL driver

Hon difficult it is, generally, to add new Devices to the driver? Trinamic has released new ethercat slave devices that can integrate SPI or up to 3 step/dir drives to ethercat. With fairly reasonable price. I've been looking for ways to use ethercat for motion control and this would certainly be of use.

www.trinamic.com/support/eval-kits/details/tmc8461-eval/

Hi Roiki,
it is not difficult, just a little complicated, you can do it in two ways, one is to use the generic complex or if you know something to program add to the linuxcnc-ethercat list, you will have to do many tests,
greetings
Chimeno

Hello guys,
I have a question, I'm trying to install the linuxcnc-ethercat patch in version 2.8 or 2.9 but it doesn't work, only version 2.7 works for me, if anyone can help me.

I attach the patch file.

Thank you
Chimeno

In the end it works in version 2.9, we go with the first synchronism tests, there are quite a few changes since version 2.7, I will have to update.

hi Cpk_Rbt, I'm also trying to configure linuxcnc .hal .xml .ini file for 6 akd kollmorgen. I can connect LinuxCNC with the driver but the motors doesn't move. can you kindly forwards the configuration files that u have used?

Hi fabsilva,
I don't have those drivers but I can still help you, exactly what problem do you have?
Are they in OP mode?
Are the motors configured correctly with the driver?
you will have to use the generic version of linuxcnc-ethercat
if you want you can build your own controller, I leave you an example link
www.iram.fr/~blanchet/ethercat/akd/examples/

Regards
Chimeno

hi chimeno,
first of all thanks
second i'm using this configuration:
debian wheezy with linuxcnc 2.6-12
ethercat 1.5.2 and rtai3.4-9

I developed a working prototype with linuxcnc and a beckoff configuration for servo motor.
now I would like to build something more industrial. I have AKD drivers and AKM motors from kollmorgen.
starting from the configuration done on beckoff I generated the xml file for AKD, the .hal file and the .ini for linuxcnc.
Now, linuxcnc start correctly without error, but when i tried to move motors two are the things: o doesn't happend or i have a joint ferror.
I'm probably wrong linking pins and signals in some way.