Hello manojpatil
I can't help you much with the PANASONIC servos, I never use them, but I will try to give you some guidance.
Linux-ethercat does not integrate the driver for PANASONIC, you have two options:
- create your own controller
- use the generic driver included in linuxcnc-ethercat, attached an example
Code:
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
<slave idx="0" type="generic" vid="00000002" pid="14566012" configPdos="true">
<dcConf assignActivate="730" sync0Cycle="*1" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>
<syncManager idx="2" dir="out">
<pdo idx="0018">
<pdoEntry idx="0086" subIdx="00" bitLen="16" halType="complex">
<complexEntry bitLen="6"/>
<complexEntry bitLen="1" halPin="srv0-ctrl.realtime-0" halType="bit"/>
<complexEntry bitLen="1" halPin="srv0-ctrl.realtime-1" halType="bit"/>
<complexEntry bitLen="2" halPin="srv0-ctrl.opmode-low" halType="u32"/>
<complexEntry bitLen="1" halPin="srv0-ctrl.sync" halType="u32"/>
<complexEntry bitLen="1" halPin="srv0-ctrl.opmode-high" halType="bit"/>
<complexEntry bitLen="1"/>
<complexEntry bitLen="1" halPin="srv0-ctrl.restart" halType="bit"/>
<complexEntry bitLen="1" halPin="srv0-ctrl.enable" halType="bit"/>
<complexEntry bitLen="1" halPin="srv0-ctrl.drv-on" halType="bit"/>
</pdoEntry>
<pdoEntry idx="0018" subIdx="00" bitLen="32" halPin="srv0-vel-cmd" halType="s32"/>
</pdo>
</syncManager>
</slave>
</master>
</masters>
the PDO can visualize them with this command
Code:
ethercat pdos -p"number device"
the VID (vendor ID) and the PID (Product code) can be found using the command
Code:
ethercat slave -p"number device" -v
I hope I have helped you, regards Chimeno
