I halved the SDO values one more time and the servos are nice and quiet now. I will have to look at the HAL Oscilloscope to see how the tune is, but for now the tune is quiet and on scale.
Here are the files below. I used an ECT60 paired with a precision planetary gearbox for the Z axis of my milling machine. The X and Y axis are controlled by RS750E drives with a slight belt reduction.
Emergency stop button is wired into the ECT60 on input number 6. From the input of the ECT60, I mapped the E stop over to the HALUI emergency stop. Without the HALUI mapping, the drives would start back up as soon as the physical E stop was released. The limit switches and homing switches for the Z axis were straight forward.
Limit switches and homing switches for the RS750E drives were a little more complicated. I converted the drive input tags from s32 to u32 then bit sliced the u32 to break out the switches. I bet all the slicing could have been done in the XML file, but I could not figure that out.
When I first started the project, my plan was to run everything off of a laptop. I have since switched to a raspberry pi 4.
I still have a bit of work to do, but I want to thank everyone for their help so far.
Code:
###########################################################
#
# CIA 402 example snippet Hal
#
###########################################################
###########################################################
# Setup
###########################################################
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadusr -W lcec_conf ethercat-conf.xml
#loadusr -W /home/cnc/linuxcnc/configs/linuxcnc-cia402-single/python_control.py
loadrt lcec
loadrt cia402 count=3
loadrt pid names=0-pid,1-pid,2-pid
loadrt bitslice count=6 personality=32,32,32,32,32,32
addf bitslice.0 servo-thread
addf bitslice.1 servo-thread
addf bitslice.2 servo-thread
addf bitslice.3 servo-thread
addf bitslice.4 servo-thread
addf bitslice.5 servo-thread
loadrt conv_s32_u32 count=6
addf conv-s32-u32.0 servo-thread
addf conv-s32-u32.1 servo-thread
addf conv-s32-u32.2 servo-thread
addf conv-s32-u32.3 servo-thread
addf conv-s32-u32.4 servo-thread
addf conv-s32-u32.5 servo-thread
###########################################################
# Functions servo-thread
###########################################################
addf lcec.read-all servo-thread
addf cia402.0.read-all servo-thread
addf cia402.1.read-all servo-thread
addf cia402.2.read-all servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf 0-pid.do-pid-calcs servo-thread
addf 1-pid.do-pid-calcs servo-thread
addf 2-pid.do-pid-calcs servo-thread
addf cia402.0.write-all servo-thread
addf cia402.1.write-all servo-thread
addf cia402.2.write-all servo-thread
addf lcec.write-all servo-thread
#########################################
#nets
#########################################
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 786432
#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-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
#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
net 0-drv-target-velo cia402.0.drv-target-velocity => lcec.0.0.target-velocity
net my-out-0 conv-s32-u32.0.in <= lcec.0.0.digitalinputs
net my-in-0 conv-s32-u32.0.out => bitslice.0.in
net my-bit-0 bitslice.0.out-00 joint.0.neg-lim-sw-in
net my-out-0 conv-s32-u32.1.in <= lcec.0.0.digitalinputs
net my-in-1 conv-s32-u32.1.out => bitslice.1.in
net my-bit-1 bitslice.1.out-01 joint.0.pos-lim-sw-in
net my-out-0 conv-s32-u32.2.in <= lcec.0.0.digitalinputs
net my-in-2 conv-s32-u32.2.out => bitslice.2.in
net my-bit-2 bitslice.2.out-02 joint.0.home-sw-in
#
# Joint 1
#
setp cia402.1.csp-mode 1
setp cia402.1.pos-scale -786432
#from servo(ethercat) to cia402
net 1-statusword lcec.0.1.cia-statusword => cia402.1.statusword
net 1-opmode-display lcec.0.1.opmode-display => cia402.1.opmode-display
net 1-drv-act-pos lcec.0.1.actual-position => cia402.1.drv-actual-position
net 1-drv-act-velo lcec.0.1.actual-velocity => cia402.1.drv-actual-velocity
#from cia402 to servo(ethercat)
net 1-controlword cia402.1.controlword => lcec.0.1.cia-controlword
net 1-modes-of-operation cia402.1.opmode => lcec.0.1.opmode
net 1-drv-target-pos cia402.1.drv-target-position => lcec.0.1.target-position
net 1-drv-target-velo cia402.1.drv-target-velocity => lcec.0.1.target-velocity
#from motion to cia
net 1-enable <= joint.1.amp-enable-out => cia402.1.enable
net 1-amp-fault => joint.1.amp-fault-in <= cia402.1.drv-fault
net 1-pos-cmd <= joint.1.motor-pos-cmd => cia402.1.pos-cmd
net 1-pos-fb => joint.1.motor-pos-fb <= cia402.1.pos-fb
net my-out-1 conv-s32-u32.3.in <= lcec.0.1.digitalinputs
net my-in-3 conv-s32-u32.3.out => bitslice.3.in
net my-bit-3 bitslice.3.out-00 joint.1.pos-lim-sw-in
net my-out-1 conv-s32-u32.4.in <= lcec.0.1.digitalinputs
net my-in-4 conv-s32-u32.4.out => bitslice.4.in
net my-bit-4 bitslice.4.out-01 joint.1.neg-lim-sw-in
net my-out-1 conv-s32-u32.5.in <= lcec.0.1.digitalinputs
net my-in-5 conv-s32-u32.5.out => bitslice.5.in
net my-bit-5 bitslice.5.out-02 joint.1.home-sw-in
#
# Joint 2
#
setp cia402.2.csp-mode 1
setp cia402.2.pos-scale 96000
#from servo(ethercat) to cia402
net 2-statusword lcec.0.2.cia-statusword => cia402.2.statusword
net 2-opmode-display lcec.0.2.opmode-display => cia402.2.opmode-display
net 2-drv-act-pos lcec.0.2.actual-position => cia402.2.drv-actual-position
net 2-drv-act-velo lcec.0.2.actual-velocity => cia402.2.drv-actual-velocity
#from cia402 to servo(ethercat)
net 2-controlword cia402.2.controlword => lcec.0.2.cia-controlword
net 2-modes-of-operation cia402.2.opmode => lcec.0.2.opmode
net 2-drv-target-pos cia402.2.drv-target-position => lcec.0.2.target-position
net 2-drv-target-velo cia402.2.drv-target-velocity => lcec.0.2.target-velocity
#from motion to cia
net 2-enable <= joint.2.amp-enable-out => cia402.2.enable
net 2-amp-fault => joint.2.amp-fault-in <= cia402.2.drv-fault
net 2-pos-cmd <= joint.2.motor-pos-cmd => cia402.2.pos-cmd
net 2-pos-fb => joint.2.motor-pos-fb <= cia402.2.pos-fb
net 2-CCW-limit lcec.0.2.in-3 => joint.2.neg-lim-sw-in
net 2-CW-limit lcec.0.2.in-4 => joint.2.pos-lim-sw-in
net 2-in-home lcec.0.2.in-5 => joint.2.home-sw-in
net 2-in-6 lcec.0.2.in-6 => halui.estop.activate
#net spindle_speed spindle.0.speed-out => python_control.rpm_in
Code:
# This config file was created 2020-08-14 17:19:37.621705 by the update_ini script
# The original config files may be found in the /home/demo/linuxcnc/configs/et-3ax/et_3ax_CIA402.old directory
[EMC]
# The version string for this INI file.
VERSION = 1.1
MACHINE = EtherCAT Machine
DEBUG = 1
[DISPLAY]
DISPLAY = axis
EDITOR = gedit
#PYVCP = pyvcp_panel.xml
# places the pyvcp panel at the bottom of the Axis window
PYVCP_POSITION = RIGHT
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.100
# Path to help file
HELP_FILE = doc/help.txt
# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1
# Prefix to be used
PROGRAM_PREFIX = /home/demo/linuxcnc/nc_files
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 0
INCREMENTS = 1in .5in .25in .125in .0625in .025in .05in
#INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
nc = /usr/bin/axis
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 0
SERVO_PERIOD = 1000000
[TASK]
TASK = milltask
CYCLE_TIME = 0.005
[HAL]
HALFILE = cia402.hal
#SHUTDOWN = shutdown.hal
HALUI = halui
[HALUI]
[TRAJ]
HOME = 16 12 7
COORDINATES = XYZ
LINEAR_UNITS = in
ANGULAR_UNITS = deg
DEFAULT_LINEAR_VELOCITY = .25
MAX_LINEAR_VELOCITY = .5
MIN_LINEAR_VELOCITY = .01
DEFAULT_ANGULAR_VELOCITY = 360
MAX_ANGULAR_VELOCITY = 720
POSITION_FILE = position.txt
[EMCIO]
# Name of IO controller program, e.g., iov2 has tool changer stuff
EMCIO = iov2
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = cia402.tbl
TOOL_CHANGE_POSITION = 0 0 50.8
#RANDOM_TOOLCHANGER = 1
[KINS]
JOINTS = 3
KINEMATICS = trivkins kinstype=both coordinates=xyz
[AXIS_X]
MIN_LIMIT = 0.1
MAX_LIMIT = 17.9
MAX_VELOCITY = .5
MAX_ACCELERATION = 10
BACKLASH = 0.0000
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = .5
MAX_ACCELERATION = 10
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
# is this applicable for ethercat????
#STEPGEN_MAXVEL = 1.25
#STEPGEN_MAXACCEL = 1.25
SCALE = 1
FERROR = 200
MIN_FERROR = 50
MIN_LIMIT = 0
MAX_LIMIT = 18
HOME = 16
HOME_OFFSET = 16
HOME_SEQUENCE = 0
HOME_SEARCH_VEL = -.125
HOME_LATCH_VEL = -.125
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
[AXIS_Y]
MIN_LIMIT = 0.1
MAX_LIMIT = 12.9
MAX_VELOCITY = .5
MAX_ACCELERATION = 10
BACKLASH = 0.0000
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = .5
MAX_ACCELERATION = 10
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
# is this applicable for ethercat????
#STEPGEN_MAXVEL = 1.25
#STEPGEN_MAXACCEL = 1.25
STEP_SCALE = 1
FERROR = 2
MIN_FERROR = 20
MIN_LIMIT = 0
MAX_LIMIT = 13
HOME = 12
HOME_OFFSET = 12
HOME_SEQUENCE = 1
HOME_SEARCH_VEL = .125
HOME_LATCH_VEL = .125
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = .5
MAX_ACCELERATION = 10
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
# is this applicable for ethercat????
STEPGEN_MAXVEL = 1.25
STEPGEN_MAXACCEL = 1.25
STEP_SCALE = 1
FERROR = 200
MIN_FERROR = 20
MIN_LIMIT = 3.4
MAX_LIMIT = 8.1
HOME = 7
HOME_OFFSET = 7
HOME_SEQUENCE = 2
HOME_SEARCH_VEL = .125
HOME_LATCH_VEL = .125
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
[AXIS_Z]
MIN_LIMIT = 3.5
MAX_LIMIT = 8
MAX_VELOCITY = .5
MAX_ACCELERATION = 10
BACKLASH = 0.0000
Code:
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
<slave idx="0" type="generic" vid="00000A88" pid="0a880013" configPdos="true">
<!-- Joint 0 -->
<sdoConfig idx="2009" subIdx="1"><sdoDataRaw data ="00 32"/></sdoConfig> <!-- position p gain default is 1000 -->
<sdoConfig idx="2009" subIdx="2"><sdoDataRaw data ="00 08"/></sdoConfig> <!-- velocity p gain default is 256 -->
<sdoConfig idx="2009" subIdx="3"><sdoDataRaw data ="00 01"/></sdoConfig> <!-- position i gain default is 200 -->
<syncManager idx="0" dir="out"> </syncManager>
<syncManager idx="1" dir="out"> </syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<pdoEntry idx="60b8" subIdx="00" bitLen="16" halPin="touchprobefunction0" halType="bit"/>
</pdo>
<pdo idx="1601">
<pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="profile-velocity" halType="u32"/>
<pdoEntry idx="6083" subIdx="00" bitLen="32" halPin="target-accel" halType="u32"/>
<pdoEntry idx="6084" subIdx="00" bitLen="32" halPin="target-decel" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
</pdo>
<pdo idx="1602">
<pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halType="bit"/>
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="60b9" subIdx="00" bitLen="16" halPin="touchprobestat" halType="bit"/>
<pdoEntry idx="60ba" subIdx="00" bitLen="32" halPin="touchprobe1pos" halType="s32"/>
<pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digitalinputs" halType="s32"/>
</pdo>
<pdo idx="1a01">
<pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
</pdo>
</syncManager>
<dcConf assignActivate="300" sync0Cycle="1000000"/>
</slave>
<slave idx="1" type="generic" vid="00000A88" pid="0a880013" configPdos="true">
<!-- Joint 1 -->
<sdoConfig idx="2009" subIdx="1"><sdoDataRaw data ="00 32"/></sdoConfig> <!-- position p gain default is 1000 -->
<sdoConfig idx="2009" subIdx="2"><sdoDataRaw data ="00 08"/></sdoConfig> <!-- velocity p gain default is 256 -->
<sdoConfig idx="2009" subIdx="3"><sdoDataRaw data ="00 01"/></sdoConfig> <!-- position i gain default is 200 -->
<syncManager idx="0" dir="out"> </syncManager>
<syncManager idx="1" dir="out"> </syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<pdoEntry idx="60b8" subIdx="00" bitLen="16" halPin="touchprobefunction0" halType="bit"/>
</pdo>
<pdo idx="1601">
<pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="profile-velocity" halType="u32"/>
<pdoEntry idx="6083" subIdx="00" bitLen="32" halPin="target-accel" halType="u32"/>
<pdoEntry idx="6084" subIdx="00" bitLen="32" halPin="target-decel" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
</pdo>
<pdo idx="1602">
<pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halType="bit"/>
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="60b9" subIdx="00" bitLen="16" halPin="touchprobestat" halType="bit"/>
<pdoEntry idx="60ba" subIdx="00" bitLen="32" halPin="touchprobe1pos" halType="s32"/>
<pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digitalinputs" halType="s32"/>
</pdo>
<pdo idx="1a01">
<pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
</pdo>
</syncManager>
<dcConf assignActivate="300" sync0Cycle="1000000"/>
</slave>
<!-- Joint 2 -->
<slave idx="2" type="generic" vid="00000a88" pid="0a880002" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="88 13"/></sdoConfig> <!-- Max motor current (5.0) -->
<sdoConfig idx="2007" subIdx="3"><sdoDataRaw data ="01"/></sdoConfig> <!-- Input 3 - CCW Limit -->
<sdoConfig idx="2007" subIdx="4"><sdoDataRaw data ="02"/></sdoConfig> <!-- Input 4 - CW Limit -->
<sdoConfig idx="2007" subIdx="5"><sdoDataRaw data ="03"/></sdoConfig> <!-- Input 5 - Home Function -->
<sdoConfig idx="2007" subIdx="6"><sdoDataRaw data ="05"/></sdoConfig> <!-- Input 6 - Emergency Stop -->
<sdoConfig idx="2011" subIdx="0"><sdoDataRaw data ="01 00"/></sdoConfig> <!-- Closed loop -->
<sdoConfig idx="6098" subIdx="0"><sdoDataRaw data ="11 00"/></sdoConfig> <!-- Home mode 17 -->
<sdoConfig idx="607C" subIdx="0"><sdoDataRaw data ="00 00"/></sdoConfig> <!-- Home offset 0 -->
<sdoConfig idx="609A" subIdx="0"><sdoDataRaw data ="F4 01"/></sdoConfig> <!-- Home accelleration 500 -->
<sdoConfig idx="6099" subIdx="01"><sdoDataRaw data ="C4 09"/></sdoConfig> <!-- Home fast speed 2500-->
<sdoConfig idx="6099" subIdx="02"><sdoDataRaw data ="F4 01"/></sdoConfig> <!-- Home slow speed 500 -->
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<!-- Target Position -->
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<!-- Target Velocity -->
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
<!-- Digtial Outputs (manufacturer's extension ECT86/ECT60)-->
<pdoEntry idx="204A" subIdx="0" bitLen="16" halType="complex">
<complexEntry bitLen="1" halPin="out-1" halType="bit"/>
<complexEntry bitLen="1" halPin="out-2" halType="bit"/>
<complexEntry bitLen="14"/>
</pdoEntry>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
<!-- Digtial_inputs (cia402 compatible) -->
<pdoEntry idx="60FD" subIdx="0" bitLen="32" halType="complex">
<complexEntry bitLen="1" halPin="CW-limit" halType="bit"/>
<complexEntry bitLen="1" halPin="CCW-limit" halType="bit"/>
<complexEntry bitLen="1" halPin="in-home" halType="bit"/>
<complexEntry bitLen="13"/>
<complexEntry bitLen="1" halPin="in-1" halType="bit"/>
<complexEntry bitLen="1" halPin="in-2" halType="bit"/>
<complexEntry bitLen="1" halPin="in-3" halType="bit"/>
<complexEntry bitLen="1" halPin="in-4" halType="bit"/>
<complexEntry bitLen="1" halPin="in-5" halType="bit"/>
<complexEntry bitLen="1" halPin="in-6" halType="bit"/>
<complexEntry bitLen="10"/>
</pdoEntry>
</pdo>
</syncManager>
</slave>
</master>
</masters>
