asd-a2-e ... lcec driver?

I have thought of it but i havent the skills yet to build a new driver ..
the drive is
cdn.delta-emea.com/cs/download/file/4641...2_UM_EN_20201209.pdf

Ok is CSP mode only motor encoder ? i am not sure at all now..

when i started the build i planned to use
6.2.1 Position Command in PT Mode
Becurse of the feedback from the scale

Best you make sure that your drive is indeed an Ethercat drive first of all.

If so, I think you can try this small example.
github.com/dbraun1981/hal-cia402/tree/main/example
I wouldn't be surprised if it works.
Some drives need some additional settings, if you are lucky yours will run directly.
Anyway, this little example shows the structure of how to connect an Ethercat servo drive to LinuxCNC.

The encoder position is used internally in the drive for feedback.
The encoder position is feed back to linuxcnc also, see the example hal file.
After you get it going, you should tune the drive's PID parameters,
just like is needed for every servo drive.



 

Hi.
I set up my machine and everything worked for me, but there is a small problem: The direction of movement of the X-Axis is not up to standard.
Please tell me how to change the direction of movement of an axis on a machine? How to swap + and - places? The machine is assembled on an ASD-A2 EtherCat. System LinuxCNC 2.9.2.
I tried to configure the change using scale using the following code:net x-vel-cmd    =>  scale.3.in
setp scale.3.gain -1
net x-vel-cmd-DAC  scale.3.out  =>  lcec.0.X.srv-vel-cmdand changing the .iniENCODER_SCALE = -1but the machine goes crazy and does not work normally.

Its the servo parameter P1-01 = 0x010C or 0x000C

Hi.
I set up my machine and everything worked for me, but there is a small problem: The direction of movement of the X-Axis is not up to standard.
Please tell me how to change the direction of movement of an axis on a machine? How to swap + and - places? The machine is assembled on an ASD-A2 EtherCat. System LinuxCNC 2.9.2.
I tried to configure the change using scale using the following code:net x-vel-cmd    =>  scale.3.in
setp scale.3.gain -1
net x-vel-cmd-DAC  scale.3.out  =>  lcec.0.X.srv-vel-cmdand changing the .iniENCODER_SCALE = -1but the machine goes crazy and does not work normally.

try the P1-01 servo parameter.

I'm trying to figure out how to configure delta a2-e. I did as described in this thread, and the ethercat slave command returns:
0   0:0   PREOP        ASDA-A2-E
But I still get an error and don't understand what to do. Any help would be appreciated.

The *.xml file is not attached. Has 0Kb file size.

HI
the .xml file should look like this, I think
  

The file opens for me, 0kb seems to be a display error. Here's what's in this file:

<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
<!-- Joint 0 -->
<slave idx="1" type="DeASDA" name="x-axis">
<modParam name="opmode" value="CSV"/>
</slave>
</master>
</masters>

Try this xml file.    

It worked, thank you.