Delta Servo position register.

Done.

He is probably using the ASD-A2-M (CANopen) and not the native EtherCAT drives.

The EL6751 is a CANopen over EtherCAT coupler.

Hello everyone.
I'm late to explain what I'm doing.As you all understand I used igh etherlabmaster and linuxcnc ethercat driver.I was able to run Delta ASD-A2-M (Canopen supported) sevo drivers by including EK1100 and EL6751 in this system.But since the firmware of the drives I have is outdated, the position register in my linear interpolation mode was still u32, but still wanted 2 as u16.I also tried this simple solution. It worked without any problems.


My main goal is to develop hardware for Canopen.Many of you are probably saying that I already have a solution and that I am using it.But EK1100 and EL6751 are not very cheap in every country.We make many passes at the same time. So we're connecting multiple technologies. As an engineer, I've always avoided the unnecessary pile of software and hardware.i.e. I am designing hardware that can be directly integrated with linuxcnc with an FPGA or ARM based controller. I will share the progress.sometimes re-searching the continent of America can improve you.

I apologize to everyone for my bad english.

Best Regards...

Hello serdigi,

I do have a set of ASD-A3-M that I tried to setup with a Beckhoff EK1100 + EL6751 but I never managed to get the EL6751 to OP under LinuxCNC. It was no problem in TwinCAT but LinuxCNC was a no-go for me. This was just a test system, as I will be using the ASD-A3-M with Step/Dir.

I have another set a EtherCAT servo's ASD-A3-E, those work well with LinuxCNC EtherCAT.

Would be great if you should share some details around the EL6751 and how you got it to work. Still unsure why it didn't work for me

Regards,
-Markus

serdigi wrote:

Code:

    px1 = (uint16_t)(xtemp)&;(0xFFFF); }

I just put the code in code-tags, and I think that there might be a spurious ";" in the line above.

Hi Serdar,

I want to use 5 ASD-A2-M servos with EtherCat (EK1100 and EL6751). Could you help me please with my setup in LinuxCNC?

Thank you,
Pierre

Reply at: pierre(at)branitzki.de