Mode and Scaling
- kubes
- Offline
- New Member
-
Less
More
- Posts: 1
- Thank you received: 0
07 May 2025 19:41 #327954
by kubes
Mode and Scaling was created by kubes
I have a new basic setup and I have motion working, and am expanding and fine-tuning from there.
I have a few questions
1. What is the best mode to use? csp? `setp cia402.0.csp-mode 1`
2. Where is the best place to do 'scaling'? In Linux-CNC (hal & cia402) or in the EtherCAT driver/controller?
3. Where can I fiind documention for `ethercat-conf.xml`, I am using one based on github.com/dbraun1981/hal-cia402/blob/ma...le/ethercat-conf.xml, and want to understand the option and what else should be in there? I want do add SDOs.
Thanks!!!!
I have a few questions
1. What is the best mode to use? csp? `setp cia402.0.csp-mode 1`
2. Where is the best place to do 'scaling'? In Linux-CNC (hal & cia402) or in the EtherCAT driver/controller?
3. Where can I fiind documention for `ethercat-conf.xml`, I am using one based on github.com/dbraun1981/hal-cia402/blob/ma...le/ethercat-conf.xml, and want to understand the option and what else should be in there? I want do add SDOs.
Thanks!!!!
Please Log in or Create an account to join the conversation.
- tommylight
-
- Away
- Moderator
-
Less
More
- Posts: 20202
- Thank you received: 6876
07 May 2025 20:05 #327958
by tommylight
Replied by tommylight on topic Mode and Scaling
Moved to "EtherCAT" section.
Please Log in or Create an account to join the conversation.
- Hakan
- Away
- Platinum Member
-
Less
More
- Posts: 681
- Thank you received: 222
08 May 2025 06:05 #327979
by Hakan
Replied by Hakan on topic Mode and Scaling
1. Normally csp I would say. For a spindle motor csv.
2. I prefer to send position in machine units to cia402 and do the scaling closer to the drive. But that's just me.
3. lcec comes from here github.com/linuxcnc-ethercat/linuxcnc-ethercat and there is a link in there to a reference guide. Unfortunately it doesn't cover sdo uploads. But it's done like this. Example comes from one of my ect60 stepper motor drivers.The sdoDataRaw has some quirks. First you must enter 4 bytes for a 32-bit variable, 2 bytes for 16 bit and 1 for 8 bit.
Note the byte order, 4000 which is hex 0x0fa0 is entered as "a0 0f". 100 (hex 0x64) is entered as "64 00",
2. I prefer to send position in machine units to cia402 and do the scaling closer to the drive. But that's just me.
3. lcec comes from here github.com/linuxcnc-ethercat/linuxcnc-ethercat and there is a link in there to a reference guide. Unfortunately it doesn't cover sdo uploads. But it's done like this. Example comes from one of my ect60 stepper motor drivers.
<slave idx="0" name="X" type="generic" vid="00000a88" pid="0a880002" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="a0 0f"/></sdoConfig> <!-- Max motor current (3.0A=b80b 4.0=a00f 5.0=8813) Rated=4.0A -->
<sdoConfig idx="2003" subIdx="0"><sdoDataRaw data ="64 00"/></sdoConfig> <!-- Standby current percentage (100%) -->
<sdoConfig idx="2011" subIdx="0"><sdoDataRaw data ="01 00"/></sdoConfig> <!-- Closed loop -->
<sdoConfig idx="2023" subIdx="1"><sdoDataRaw data ="a0 0f"/></sdoConfig> <!-- Kp=4000 (def=2000) -->
<syncManager idx="2" dir="out">Note the byte order, 4000 which is hex 0x0fa0 is entered as "a0 0f". 100 (hex 0x64) is entered as "64 00",
Please Log in or Create an account to join the conversation.
Time to create page: 0.065 seconds