I already checked the ESTUN servo driver with EL6751. The pdo of the target location in the ESTUN driver was U32 bit.
I wanted to run my Delta ASD-A2 drive on the side to improve myself. However, in the Canopen whitepaper I found that the pdo target location consists of High(16bit) and low(16bit) words. As you know, Linuxcnc sends the Float type target location command. To solve this problem I will need low and high 16 bit conversion from Float. And of course, it needs to convert as fast as possible to match real time. My opinion is to convert from float to binary as fast as possible. The Ethercat Hal driver does the rest by dividing and sending complex data type bits. Waiting for your valuable ideas.
Kind regards.
Yes Andy.
I am proficient in C language.
Thanks for your support and advice. Earlier, I converted an integer 16bit value to 2 8bit values (high and low). Of course, it's not that simple when it comes to converting a floating number.
void split(uint16_t pxreg1,uint16_t pxreg2)
{
px2=(uint8_t)(0x00ff)&(pxreg1);// low byte
pxreg1=pxreg1>>8;
px1=(uint8_t)((0x00ff)&pxreg1); high byte
px4=(uint8_t)(0x00ff)&(pxreg2);//low byte
pxreg2=pxreg2>>8;
px3=(uint8_t)((0x00ff)&pxreg2); high byte
}
I'm continuing to work. If I find a fast algorithm like I mentioned, I will share it. Being open to ideas has always improved me.
Hello. This is a simple component. I have tested on the EL6751. The result is very good. I haven't had any lag issues. I wish you good luck. Kind regards.
SERDIGI.
Code:
component split "Delta ASD-A2 Firmware 1.03 linear Interpolation position register splitting HIGH Word and LOW Word";
pin in float pos_in;
pin out u32 pos_out;
pin out u32 pos_low;
pin out u32 pos_high;
pin in float resulation;
variable uint32_t xtemp=0;
variable uint16_t px1=0;
variable uint16_t px2=0;
function _;
license "GPL";
author "serdigi";
;;
#include "rtapi_math.h"
FUNCTION(_) {
xtemp = pos_in * resulation;
px1 = (uint16_t)(xtemp)&;(0xFFFF);
px2 = (uint16_t)(xtemp>>16);
pos_low = px1;
pos_high = px2;
}
Hi, this is interesting as I'm just starting out with Ethercat. I am wondering why you are using the EL6751 when there is direct support for CIA402 drives which the ASD-A2 drive appears to be
github.com/dbraun1981/hal-cia402
I really want to get internal homing working with my drives via a component.. Stall homing sounds very cool.
It would also be great if the mods could move this to the Ethercat section
