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.
Glad you figured it out and reported back, thank you.
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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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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.
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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01 Aug 2024 13:22 #306611
by Sandro
Replied by Sandro on topic Servo drive config and first movement
Hi Tim
I am having the same issue. Have you figured this one out?
I am having the same issue. Have you figured this one out?
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