EtherCAT System Implementation of JMC Ethercat Servos

@ fdarling

Hi, what motor exactly have you attached to the drive;
what is the resolution of the encoder in the motor;

There is already a ripple/ wave in your velo_cmd;

DO NOT COMPARE JMC vs. YASKAWA !

udoS wrote:

@ fdarling

Hi, what motor exactly have you attached to the drive;
what is the resolution of the encoder in the motor;

There is already a ripple/ wave in your velo_cmd;

DO NOT COMPARE JMC vs. YASKAWA !
 

I am using a non-JMC Chinese servo motor, but it has the same specs as a motor they offer, and they all use Tamagawa serially interfaced absolute encoders with 17-bit resolution. I also have motors with the newer 23-bit resolution Tamagawa encoders.

The same exact motor is being used for both the EtherCAT and analog drive tests, and what I am pointing out is that the quality of reported position/velocity differs.

In the tests where I was running it in "open loop velocity mode", there was no ripple in the velocity command.

I can compare JMC and Yaskawa if I want to . Soon I will be testing an Inovance EtherCAT servo drive as well...

@ fdarling

sure you can;  : -)
 

@all
Back to the topic:
EtherCAT System Implementation of JMC Ethercat Servos
This is an implementation of JMC EtherCAT Servos iHSV-57-EC-xx-xx with Probe-Basic.
The challange is not EtherCAT or JMC; it bis the fantastic docu of LinuxCNC;
Never the less: it is possible;

 

@ all
And I hope needless to say,
it can be done with a RPi4+ ;


Have Fun

Hello @rodw ,
took me some time to get back here.
I now have installed the newest version of LCNC with your description of the installation with Ethercat from repositories.
Everything worked well until the implementation of the CIA402 devices.
For your info: the JMC drive is CIA402 compatible but i really dont understand the next steps. For me to build up a working machine.

What showed up in the moment when I am searching for slaves are EK1100 and also the drives, but also want to implement an Ethercat VFD from Lusintun and really have Problems understanding the connection between setting up a machine with the correct HAL, XML and Ini files.
I tried to follow your description of implementing CIA402 drives but that didnt worked out for me

Hope you can help

I can't really help but here is my config for cia402 devices
github.com/rodw-au/linuxcnc-cia402

@Smitherman, are you from Germany? I might be able to assist.

With the help of 0x2102 and a video of Metalmusings (), I got the JMC drive into OP status. Tomorrow I will post my momentary XML file. The only problem I am facing right now is the Hal file, which I must say I don't really understand how to set up correctly 

So here are the 3 files, which brings the Servo into Op State. Next strep would be to customize the Hal file. But i do not know exactly where to start....