linear encoder + cia402 driver + delta a2 incremental

0x2102 post=265395 userid=22009It is well documented for the Delta A3 drives but not for the A2.

Delta documentation for A2 full closed loop on my site - argon.pw/Files/DEN_IA_ASD_A2_Full-Closed...n_AN_EN_20200316.pdf

Yes it has some errors and missing features.
There is a pdo for Digital outputs in a3 but not for a2.

• Sakhalin_Cat

Hi can you repost the file the link seems dead

I have worked configuration for this, if it is actually question.
I connected aux encoder 1u resoluution to aux to drive. Connected it to hal by xml config, named linear-pos.
And change actual position to linear-pos. And its works.
About points to 1 rotation - i connected to drive, and calculate gear ratio, on my case it was 1.4 - you put electronic gear 1:1 and move 1 rotation of motor, and look at measurement "clocks" what is movement on mm. And calculate. Also coefficient in my case for linear aux was 7000 . There are manual from delta for calculation.
Also important point that i put in xml file in linuxcnc (lcec some.xml) electronic gear values, and every load of linuxcnc it download by ethercat .