EtherCAT driver for a 6 axis robot

Made some good progress today starting the application with vismach.  I may not have the rotates and translates right yet but close.

github.com/djsftree/linuxcnc-ethercat/tree/master/wip-meca500

I've split the project into two repositories now

Meca500 LinuxCNC EtherCAT HAL Driver
github.com/djsftree/linuxcnc-ethercat

Meca500 LinuxCNC (currently using generic EtherCAT driver xml)
github.com/djsftree/linuxcnc_meca500

Hi @db1981.  Are you available to assist?  Are you on the Discord server?

hi,

i am very out of time at the moment.
I'm involved in two bigger projects, which have to produce asap.
But now we do redesign/recoding on the construction site, caused by parts availibility.

Maybe i will get a few hours the next week....

Thanks!  if you have the time it would be greatly appreciated.

To recap. I’m working on an internal project involving the Mecademic Meca500 6 axis robot
www.mecademic.com/en/meca500-robot-arm

Here’s some useful links so far

Cyclic data that can be sent to the robot
cdn.mecademic.com/uploads/docs/meca500-r...4.pdf#subsection.3.4

Cyclic data received from the robot
cdn.mecademic.com/uploads/docs/meca500-r...4.pdf#subsection.3.5

Communicating over ethercat
cdn.mecademic.com/uploads/docs/meca500-r...al-8-4.pdf#section.4

ethercat XML file
github.com/djsftree/linuxcnc_meca500/blo...meca500-ethercat.xml

custom homing comp skeleton
github.com/djsftree/linuxcnc_meca500/blo.../meca500_homing.comp

I would welcome a review of the initial skeleton code and any suggestions to the potential homing architecture for this particular robot.

The robot has its own internal mechanism for homing once the robot is activated.

-- set
   ctrl.activate 1
   ctrl.deactivate 0

-- wait for
   status.activated 1
   status.busy 0

-- set
   ctrl.home 1
   j0, j1, j2 rotate 3.6deg
   j3, j4 rotate 7.2deg
   j5 rotates 12deg
   above joints rotate back the same amout
   this procedures takes 3 seconds to complete
   joint position during homing is available on ethercat encoder.a1 thru a6

-- wait for
   status.homed 1
   status.busy 0

-- homed and ready to accept motion commands

Best regards,
David