help with ethercat and omron drives

Told you, was just to sit back and wait
That milling machine looks and sounds great.

Can you share the ecat-conf.xml file you ended up with? Can help the next guy out.

And don't forget that "ethercat for dummies" post, greatly needed.

Thanks. I need to do my IO and some fine tuning (servo tuning) and then I see about making a nice organised how to including files and what each line is for.



I need to figure out modbus spindle now. I hope that is easier to follow (I haven't looked at it at all yet)

Any luck on the "how to" and files you used to make it work?

I struggled with the linuxcnc-ethercat Omron slave type in the XML configuration, it seems highly dependent on the linuxcnc-ethercat version, so that is why I am really curious of your xml setup. Did you goto a generic type maybe for that reason? Even the example in the repo is incorrect or not up-to-date, I don't know what version type="R88D-KN04H-ECT" will work in. It should be type="OmrG5_KN04H".

Also for anyone reading if you want to enable DC sync its worth noting the difference in versions
refClockSyncCycles = "-1" for older versions of linuxcnc_ethercat ( i.e. lcec ) syncToRefClock="true" works for newer versions.

I mention this because if you scour ( like most of us ) the posts you will see many different flavors of xml files.

I used the linuxcnc ISO image version 2.9.3 and that has an older version of linuxcnc-ethercat.

Also the OmrG5_KNxx does not expose all of the PDO's available on that syncManager. So doing a generic and manually building it might be a better option. Supposedly the drive has variable PDO SM but I have no clue how to set that up.

Other lessons learned, DO NOT use the ethercat pdos info to setup your XML. For some reason some of those value can be incorrect. If you have access to the ESI files use that as the golden standard, that is available from omrons website if you goto the specific product page.

In case anyone was wondering I think I found the thread where i havenofish pulled the xml file from
forum.linuxcnc.org/ethercat/54975-omron-...s-synch-error#329216 by tpa58
It uses a generic type.
If anyone understands that xml and could explain it that would be great. I do not know how he maps to a fixed SM with different addresses, but it does seem to work. I still get some "unrelated errors" but that's probably more of my particular hardware setup.

Sorry, missed this.

Yes, that's where i started with the xml. I don't change much other then to make it specific to the 3 motors i have. My xml file is in my other thread here:  New ethercat / probe basic control for minimonster - Page 13 - LinuxCNC

Sadly no time to make a how too, but its on the list to go with the launch of the machine