Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

SPH
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1 year 1 week ago #336926 by SPH

Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Legend, thank you. I'll have a bit more of a play and see where I get to.

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SPH
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1 year 1 week ago #336927 by SPH

Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Any way to know which of the parameters I should actually be setting to true? I can get axis to run if I false basically everything out but I doubt that's going to lead to any kind of success.

Code:

<masters>
  <master idx="0">
    <slave idx="0" type="basic_cia402" vid="0x000001dd" pid="0x10306081" name="D1">
      <modParam name="ciaRxPDOEntryLimit" value="8"/>
      <modParam name="ciaTxPDOEntryLimit" value="8"/>
      <modParam name="enablePP" value="false"/>
      <modParam name="enablePV" value="false"/>
      <modParam name="enableTQ" value="false"/>
      <modParam name="enableHM" value="false"/>
      <modParam name="enableIP" value="disabled"/>
      <modParam name="enableCSP" value="true"/>
      <modParam name="enableCSV" value="false"/>
      <modParam name="enableCST" value="false"/>
      <modParam name="enableActualCurrent" value="false"/>
      <modParam name="enableActualFollowingError" value="true"/>
      <modParam name="enableActualTorque" value="true"/>
      <modParam name="enableDigitalInput" value="true"/>
      <modParam name="digitalInChannels" value="16"/>
      <modParam name="enableDigitalOutput" value="true"/>
      <modParam name="digitalOutChannels" value="16"/>
      <modParam name="enableErrorCode" value="true"/>
      <modParam name="enableFollowingErrorWindow" value="true"/>
      <modParam name="enableHomeAccel" value="true"/>
      <modParam name="enableInterpolationTimePeriod" value="false"/>
      <modParam name="enableMaximumAcceleration" value="true"/>
      <modParam name="enableMaximumDeceleration" value="true"/>
      <modParam name="enableMaximumMotorRPM" value="false"/>
      <modParam name="enableMaximumTorque" value="false"/>
      <modParam name="enableMotorRatedCurrent" value="false"/>
      <modParam name="enableMotorRatedTorque" value="false"/>
      <modParam name="enablePositionDemand" value="false"/>
      <modParam name="enablePositioningTime" value="false"/>
      <modParam name="enablePositioningWindow" value="false"/>
      <modParam name="enableProbeStatus" value="false"/>
      <modParam name="enableProfileAccel" value="false"/>
      <modParam name="enableProfileDecel" value="false"/>
      <modParam name="enableProfileMaxVelocity" value="false"/>
      <modParam name="enableProfileVelocity" value="false"/>
      <modParam name="enableTargetTorque" value="false"/>
      <modParam name="enableTorqueDemand" value="false"/>
      <modParam name="enableTorqueSlope" value="false"/>
      <modParam name="enableVelocityDemand" value="false"/>
      <modParam name="enableVelocityErrorTime" value="false"/>
      <modParam name="enableVelocityErrorWindow" value="false"/>
      <modParam name="enableVelocityThresholdWindow" value="false"/>
    </slave>
  </master>
</masters>

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Hakan
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1 year 1 week ago - 1 year 1 week ago #336930 by Hakan

Replied by Hakan on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Just glancing through the enable parameters I don't see they are needed.
Many are settings for the modes you disabled, or optional.
Obviously, if you need digital io you need to enable that and such.

Last edit: 1 year 1 week ago by Hakan.

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onceloved
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1 year 1 week ago #336945 by onceloved

Replied by onceloved on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

I can assist you remotely

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SPH
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1 year 1 week ago #336954 by SPH

Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

That'd be amazing. I'll be putting some more time into the setup tomorrow so I'll get in touch once I'm back at the machine.

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SPH
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1 year 1 week ago #336992 by SPH

Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Ok, I feel a bit lost on how to proceed with actually getting my drive connected in HAL.
My previous machine was using MESA hardware and pncconf did most of the heavy lifting, at least giving me a working hal and ini file to work from. As it is I'm struggling to find good tutorials or videos online that actually spell out how to get an axis drive connected and a motor moving. The one video I found (showing a full setup from scratch) gets to the cia402 stage and just says "I wont go into detail on the cia402 setup" and then just shows a moving motor... which makes me think I'm missing something really obvious.

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Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml