RTelligent EtherCAT Servo Drive Setup: RS750E
- MTate01
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21 May 2025 08:12 - 21 May 2025 08:22 #328849
by MTate01
RTelligent EtherCAT Servo Drive Setup: RS750E was created by MTate01
Good day
I am currently trying to configure my linuxcnc to communicate with an RTelligent (Shenzhen Ruitech) RS750E AC Servo Drive.
So far, I think I've correctly compiled an ethercat-conf.xml file for the single slave (for now) (from here) but am struggling with any further steps. I can successfully read registers (ie cia-controlword) and things like that, I can attempt to write them - by setting pins eg setp lcec.0.0.cia-controlword 15, but there is no change in cia-statusword. The same applies for opmode.
Additionally, my drive never seems to exit PREOP. sudo ethercat states -p0 OP doesn't change state from PREOP. I figure that there is something I might need to do with registers, either in a specific order, or through the PC software (RSConfigurator), but the latter is rather confusing and i've had no success attempting such. I can change it to and from INIT (without errors) to PREOP (without errors), but as soon as I try SAFEOP or OP it stalls back to PREOP and has an error flag. I assume this means my XML might be wrong.
I've also attempted to set up my ethercat.hal and changed the joint/axis info in my axis-edited.ini, but still no change occurs on the drive or servo.
I cannot find any documentation on these AC servo drives from RTelligent here, but I will also be sending their support a ticket to see if they can help me. The appropriate files are below:
ethercat-conf.xml:
a modified ethercat-conf, with the same results:
ethercat.hal:[/code][/code][/code]
I am currently trying to configure my linuxcnc to communicate with an RTelligent (Shenzhen Ruitech) RS750E AC Servo Drive.
So far, I think I've correctly compiled an ethercat-conf.xml file for the single slave (for now) (from here) but am struggling with any further steps. I can successfully read registers (ie cia-controlword) and things like that, I can attempt to write them - by setting pins eg setp lcec.0.0.cia-controlword 15, but there is no change in cia-statusword. The same applies for opmode.
Additionally, my drive never seems to exit PREOP. sudo ethercat states -p0 OP doesn't change state from PREOP. I figure that there is something I might need to do with registers, either in a specific order, or through the PC software (RSConfigurator), but the latter is rather confusing and i've had no success attempting such. I can change it to and from INIT (without errors) to PREOP (without errors), but as soon as I try SAFEOP or OP it stalls back to PREOP and has an error flag. I assume this means my XML might be wrong.
I've also attempted to set up my ethercat.hal and changed the joint/axis info in my axis-edited.ini, but still no change occurs on the drive or servo.
I cannot find any documentation on these AC servo drives from RTelligent here, but I will also be sending their support a ticket to see if they can help me. The appropriate files are below:
ethercat-conf.xml:
[code]<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
<slave idx="0" type="generic" vid="00000A88" pid="0a880013" configPdos="tru>
<!-- Joint 0 -->
<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">
<pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="target-position">
<pdoEntry idx="60b8" subIdx="00" bitLen="16" halPin="touchprobefuncti>
</pdo>
<pdo idx="1601">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword0>
<pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="target-position0>
<pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="target-velocity">
<pdoEntry idx="6083" subIdx="00" bitLen="32" halPin="target-accel" ha>
<pdoEntry idx="6084" subIdx="00" bitLen="32" halPin="target-decel" ha>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType=">
</pdo>
<pdo idx="1602">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol2" h>
<pdoEntry idx="6083" subIdx="00" bitLen="32" halPin="accelcommand2" h>
<pdoEntry idx="6084" subIdx="00" bitLen="32" halPin="decelcommand2" h>
<pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="targetvelocomman>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="modeofoperation2">
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halTy>
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" >
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" h>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position">
<pdoEntry idx="60b9" subIdx="00" bitLen="16" halPin="touchprobestat" >
<pdoEntry idx="60ba" subIdx="00" bitLen="32" halPin="touchprobe1pos" >
<pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digitalinputs" h>
</pdo>
<pdo idx="1a01">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivecontroltx1">
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="modeofoperationtx>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-velocity">
<pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digitalinputs1" >
</pdo>
</syncManager>
<dcConf assignActivate="300" sync0Cycle="1"/>
</slave>
</master>
</masters>a modified ethercat-conf, with the same results:
[code]<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
<slave idx="0" type="generic" vid="0x00000A88" pid="0x0A880013" configPdos="true">
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1A00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position"/>
</pdo>
</syncManager>
<dcConf assignActivate="300" sync0Cycle="1"/>
</slave>
</master>
</masters>ethercat.hal:
[code]loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
addf lcec.read-all servo-thread
addf lcec.write-all servo-thread
setp lcec.0.0.opmode 8
setp lcec.0.0.cia-controlword 15
setp lcec.0.0.opmode 8
Last edit: 21 May 2025 08:22 by MTate01.
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- Hakan
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21 May 2025 08:49 #328851
by Hakan
Replied by Hakan on topic RTelligent EtherCAT Servo Drive Setup: RS750E
Typically you want to use the cia402 component with such a drive.
The cia402 component is in your installation already, here is an
example of how to set it up in hal.
github.com/dbraun1981/hal-cia402/tree/main/example
The cia402 component is in your installation already, here is an
example of how to set it up in hal.
github.com/dbraun1981/hal-cia402/tree/main/example
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- MTate01
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21 May 2025 12:59 #328856
by MTate01
Replied by MTate01 on topic RTelligent EtherCAT Servo Drive Setup: RS750E
Thanks for the reply - didn't get a notification of it, sorry for taking a little while to respond.
Okay noted, I will do my best to configure a cia402.hal file instead of the method i've been doing it...
but good news is that i've been able to move the drive to an "OP"erational state. very happy with even this little progress haha. will post my cia402.hal once i've got it to compile.
Okay noted, I will do my best to configure a cia402.hal file instead of the method i've been doing it...
but good news is that i've been able to move the drive to an "OP"erational state. very happy with even this little progress haha. will post my cia402.hal once i've got it to compile.
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