EtherCAT with OMRON R88D-1SN servo drive

Hello everyone,
I am a beginner of LinuxCNC but I have collected what i have learned using EtherCAT, BECKHOFF modules and a OMRON R88D-1SN drive. I think it may be useful for others approaching this world. The repository is still incomplete and lacks of many things. Hope in a feedback from everyone and from who is working with the same OMRON drive. 

Here is the link to the github page:  linuxcnc-collection

Thanks
 

Hello again,
just a little update. On the repository i have added more information about current configuration but still a lot of work need to be done. Unlikely I have only one motor so i can't scale along 3 axes.

I have also updated a video on YouTube.



Next steps are:

• resolve joint 0 amplifier fault when toggle machine power. This seems to happen only one time after LinuxCNC opening.
• run and understand LinuxCNC / HAL Latency Test for a better configuration of LinuxCNC
• set machine configuration parameters like: encoder resolution, velocity, acceleration, pitch of leadscrew...
• implement PID control
• customizing using PyVCP