CIA402 out of range?

I was able to solve this issue by changing P3.012 to 0100 - to persist E-gear settings

do you still have same resolution reported in linuxcnc?
you can also setup gear in sdo

<sdoConfig idx="6093h" subIndx="1"><sdoDataRaw data="00 00 00 00"/></sdoConfig>

data should be set in hex, less significant byte first

so it will be set each time before start

Yes, you're right it should be possible to configure E-gear ratio with PDO 6093.
Can you share how do you set up sdo within config?

Also: do you read some PDO's? (for example Digital inputs 60FD). I'm trying to figure out, how to access Digital Input values within linuxcnc.

there is good example from rodw-au

github.com/rodw-au/linuxcnc-cia402/blob/main/ethercat-conf.xml

yes read of pdo's also covered there, also if it is complex data type (int value split to bits to have designated names)

Big thanks for all these practical details - currently configuring LinuxCNC with Delta B3 and EtherCAT.

We'd like to have say 10000 steps/rev and *think* the way to do this is to use e-gear setting.

From the excellent explanation in this threads messages, I think one way would be to load up Windows (sigh), use Delta sw to verify that P1.044 has the correct steps for this motor's absolute encoder, and then set P1.045 to say 10000 or whatever virtual steps/rev we want.

And then the secret sauce (thanks @zmtdko) to set P3.012 to 0100 - to persist E-gear settings.

But this leads to wondering... if the point of setting P3.012 is to make the drive ignore whatever CIA402 driver is sending to drive... maybe just go with the flow and set value for 0x6093 sub 2 to the desired 10000 denominator and let the drive continue to use its default (configured automagically when drive talks over T+ T- to encoder) for numerator?

What seems nice about this is it moves configuration of (four servo drives) from poking at Windows sw to editing with one xml file.

And it leaves P3.012 at default. We load up the drive with settings each time, why not e-gear too?

bob8020 wrote:

Big thanks for all these practical details - currently configuring LinuxCNC with Delta B3 and EtherCAT.

We'd like to have say 10000 steps/rev and *think* the way to do this is to use e-gear setting.

From the excellent explanation in this threads messages, I think one way would be to load up Windows (sigh), use Delta sw to verify that P1.044 has the correct steps for this motor's absolute encoder, and then set P1.045 to say 10000 or whatever virtual steps/rev we want.

And then the secret sauce (thanks @zmtdko) to set P3.012 to 0100 - to persist E-gear settings.

But this leads to wondering... if the point of setting P3.012 is to make the drive ignore whatever CIA402 driver is sending to drive... maybe just go with the flow and set value for 0x6093 sub 2 to the desired 10000 denominator and let the drive continue to use its default (configured automagically when drive talks over T+ T- to encoder) for numerator?

What seems nice about this is it moves configuration of (four servo drives) from poking at Windows sw to editing with one xml file.

And it leaves P3.012 at default. We load up the drive with settings each time, why not e-gear too?
 

If you keep P3.012 at 0000, you have to set both numerator and denominator to desired values, since the default for P3.012 = 0000 is 1 for both.
have a look here:
github.com/zmrdko/3dworks_ethercat_lcec/...in/ethercat-conf.xml

 

Yes, thanks! That works perfectly, and is one fewer thing we need to enter manually when setting up a bunch of servos. Even with just four, it is easy to miss some little setting so having them in the XML is excellent.