Minor update: I think there's actually a hardware issue here with my ECT60's I/O ports. At a minimum, I can't find the "COM+" wire, which I assume is supposed to have +24V. My multimeter measures 0V to ground on all 8 pins of the I/O connector. I should have a replacement in hand :before too long, as well as a few other CiA 402 devices for testing.
- RTelligent ECT60
- RTelligent ECR60x2 (2x open loop stepper drive)
- RTelligent DRV400E brushless motor, er, "DC stepper" drive
- Omron MX2 (VFD)
- Rovix ESD-A6 (6-axis 24V stepper drive)
- Leadshine 2CS3E-D507 (2x closed loop stepper drive)
If I'm reading the specs right, the DRV400E actually looks kind of interesting because it supports `tq` and `cst` modes. I think that'll give me hardware on hand that covers pretty much the full set of CiA 402 modes, with 1, 2, or 6 axes.
The ECR60x2 is cheap enough that it might be a reasonable option for anyone that wants multiple open-loop steppers. It (allegedly) does 2 channels of steppers for around $130 US. There are closed loop (ECT60x2) and higher-power (ECR86x2) models on some of their websites, but they don't seem to actually be shipping.
At this point, I have code that includes pins for nearly all of the optional CiA 402 objects supported in pp, pv, csv, csp, or hm modes. I still have tq, cst, and vl to go, plus some of the generic gear ratio/e-gear/etc modparams and some documentation. Oh, plus the PDO mapping code is really broken for multi-axis devices, *and* will probably overflow the number of mapped PDO entries allowed on at least some devices.
Once I make it through these, I can start looking at AC servos and The Dreaded Yaskawa Problem.
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