Ethercat and Delta ASD B3-E

Hello,
did you find a solution?
We are stack in the same situation

Hi friend
i had the same problem but for a2 servos.
I am using omrg5  to modify DeASDA 
i was not able to use Hal-cia402 
My servos didn't become OP with that 
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Hi mehdidadash,

thanks for the feedback.
As we feel in the dark, can you please be more explicit? Where we have to use omrg5?
Are the Asda B3 E working in your case?

Thanks in advance

I was at the same point than you've been 2 years ago. There was a post from hakan discribing how to read / write pdo's. You have to define the TxPDO mapping of the drives via ethercat. I have not found a way to do this inside the ASDA software. Take a look at the attached screenshot. These are my notes but i can't remember it in detail. The Delta manuals are good in general but this part isn't. If requested, I can attache one of my drives config files as well. I'm using absolut encoders though.

Edit: The corresponding chapter on the manual of the B3 drives is: 11.2.2.1 Process data object (PDO)

As far as I understand it, you're defining the "registers of the drive" that get map into registers, that are used to concatenate the ethercat dataframe. 

Hope that helps

I was able to get the PDO's and CIA402 working on my ASDA-B3-E servo drive without changing any PDO mappings on the drive or in the linuxcnc-ethercat HAL driver. Additionally I was also able to reproduce a similar output in ASDA-Soft as you showed in your original screenshot. To reproduce the error I changed the bitLen value of the pdoEntry object to the wrong value in my xml and ASDA-Soft gave me a very similar error. The only difference that I could see is that you are using the "0x1A01" TxPDO Mapping index and I was using the "0x1A00" TxPDO index. Here are my working configs and some relevant pages from the manual if you want to take a look:

github.com/gchesney/linuxcnc-asda-b3-e-configs

*Other note: Check which version of the manual you are using since the first version that comes up on google is old and is missing the entire section on EtherCat (The manual version I am using is: DELTA_IA-ASD_ASDA-B3_UM_EN_20220505).