Servo drive config and first movement

tommylight
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18 Dec 2023 14:21 #288488 by tommylight

Replied by tommylight on topic Servo drive config and first movement

You did not mention encoder!

Glad you figured it out and reported back, thank you.

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TimP
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Senior Member

18 Dec 2023 18:49 #288506 by TimP

Replied by TimP on topic Servo drive config and first movement

yeah that is true, i thought this days everything comes with encoder and it is not an option anymore

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TimP
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19 Dec 2023 14:52 - 19 Dec 2023 14:52 #288586 by TimP

Replied by TimP on topic Servo drive config and first movement

Maybe not EtherCAT specific. but why my axis.x.pos-cmd get bigger after restart on amount of cia402.0.pos-fb.

So if axis.x.pos-cmd is 0.4 and cia402.0.pos-fb is 0.2 then after LinuxCNC restart axis.x.pos-cmd will be 0.6 and more restart you do more it add.

net emc-enable => iocontrol.0.emc-enable-in
sets emc-enable 1

#config

#
# Joint 0
#

setp cia402.0.csp-mode 1
setp cia402.0.pos-scale [JOINT_0]SCALE

#from servo(ethercat) to cia402
net 0-statusword lcec.0.0.cia-statusword => cia402.0.statusword
net 0-opmode-display lcec.0.0.opmode-display => cia402.0.opmode-display
net 0-drv-act-pos lcec.0.0.actual-position => cia402.0.drv-actual-position
net 0-drv-act-velo lcec.0.0.actual-velocity => cia402.0.drv-actual-velocity

#from motion to cia

net 0-home-index <= joint.0.index-enable => cia402.0.home
net 0-enable <= joint.0.amp-enable-out => cia402.0.enable
net 0-amp-fault => joint.0.amp-fault-in <= cia402.0.drv-fault
net 0-pos-cmd <= joint.0.motor-pos-cmd => cia402.0.pos-cmd
net 0-pos-fb => joint.0.motor-pos-fb <= cia402.0.pos-fb
#net 0-home lcec.0.0.in-5 => joint.0.home-sw-in

#from cia402 to servo(ethercat)
net 0-controlword cia402.0.controlword => lcec.0.0.cia-controlword
net 0-modes-of-operation cia402.0.opmode => lcec.0.0.opmode
net 0-drv-target-pos cia402.0.drv-target-position => lcec.0.0.target-position

Last edit: 19 Dec 2023 14:52 by TimP.

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