Search Results (Searched for: raspberry)
- mediocre_chloride
10 Jun 2025 22:43 - 10 Jun 2025 22:44
Replied by mediocre_chloride on topic Raspberry Pi Kernel recompile for waveshare 1Gbit Network interface
Raspberry Pi Kernel recompile for waveshare 1Gbit Network interface
Category: Computers and Hardware
Thanks for the fast reply
I Downloaded 2.94 Rpi 5 based OS from the official linuxcnc/download site.
The Waveshare user guide states that something in the lines of:
Device Drivers
> Network device support
> Ethernet driver support
> Realtek devices
> Realtek 8169/8168/8101/8125 ethernet support
needs to be added if not using original rpi os.
i am pretty sure that is the problem, as i see the card with lspci as described in the user guide:
but not in ifconfig:
it is also stated, drivers could be installed manually but its not recommended.
Also, there are other rpi linuxcnc distros floating around, do you think its worth switching around?
I Downloaded 2.94 Rpi 5 based OS from the official linuxcnc/download site.
The Waveshare user guide states that something in the lines of:
Device Drivers
> Network device support
> Ethernet driver support
> Realtek devices
> Realtek 8169/8168/8101/8125 ethernet support
needs to be added if not using original rpi os.
i am pretty sure that is the problem, as i see the card with lspci as described in the user guide:
but not in ifconfig:
it is also stated, drivers could be installed manually but its not recommended.
Also, there are other rpi linuxcnc distros floating around, do you think its worth switching around?
- unknown
- unknown
10 Jun 2025 20:59
Replied by unknown on topic Raspberry Pi Kernel recompile for waveshare 1Gbit Network interface
Raspberry Pi Kernel recompile for waveshare 1Gbit Network interface
Category: Computers and Hardware
Shouldn't need recompiling as, our images use a kernel built from the Raspberry Pi GitHub sources.
The only difference being is choosing the kernel config option for real time.
If the standard kernel doesn't work give me a yell and I'll build an update image, as there are a few minor things I would like to add.
The only difference being is choosing the kernel config option for real time.
If the standard kernel doesn't work give me a yell and I'll build an update image, as there are a few minor things I would like to add.
- mediocre_chloride
10 Jun 2025 14:54
Raspberry Pi Kernel recompile for waveshare 1Gbit Network interface was created by mediocre_chloride
Raspberry Pi Kernel recompile for waveshare 1Gbit Network interface
Category: Computers and Hardware
Hi all
My goal is to setup a raspberry pi with ethercat.
I have a raspberry Pi 5 with an additional network interface from waveshare ( here )
its planned to use this additional ethernet port for connecting the machine to the network, and the native Port on the Pi for Ethercat.
to use this additional Interface, the kernel needs to be recompiled with some additions to the config file.
I am not familiar with recompiling a kernel, thats why i am seeking help here.
Has anyone encountered similar issues?
Is there maybe a fixed Kernel to download so i dont need to do the recompile?
greetings
Marc
My goal is to setup a raspberry pi with ethercat.
I have a raspberry Pi 5 with an additional network interface from waveshare ( here )
its planned to use this additional ethernet port for connecting the machine to the network, and the native Port on the Pi for Ethercat.
to use this additional Interface, the kernel needs to be recompiled with some additions to the config file.
I am not familiar with recompiling a kernel, thats why i am seeking help here.
Has anyone encountered similar issues?
Is there maybe a fixed Kernel to download so i dont need to do the recompile?
greetings
Marc
- farmer_mike
- farmer_mike
07 Jun 2025 17:59
Replied by farmer_mike on topic Experimental XML config generator
Experimental XML config generator
Category: EtherCAT
Thanks for the help everyone. I decided to move my project to a Raspberry Pi 4, so I made sure to use the latest versions of LinuxCNC and Ethercat. I think I have the experimental XML config working now. I am a little unsure what to do with the output file.
I'll paste two files below. The first file is the ethercat-conf.xml from my CNC project when I had a single axis using an Rtelligent ECT 60 stepper motor.The single axis worked, so I have since bought two Rtelligent RS750E AC Servo drives. All I have done with the RS750E drives is power them up and connect the Ethernet. I haven't done any onboard parameter programming yet.
The experimental XML config generator recognized all three drives in order.
Is the output from the experimental XML config generator meant to be used to create the ethercat-conf.xml file?
I'll paste two files below. The first file is the ethercat-conf.xml from my CNC project when I had a single axis using an Rtelligent ECT 60 stepper motor.The single axis worked, so I have since bought two Rtelligent RS750E AC Servo drives. All I have done with the RS750E drives is power them up and connect the Ethernet. I haven't done any onboard parameter programming yet.
The experimental XML config generator recognized all three drives in order.
Is the output from the experimental XML config generator meant to be used to create the ethercat-conf.xml file?
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
<!-- Joint 0 -->
<slave idx="0" type="generic" vid="00000a88" pid="0a880002" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="88 13"/></sdoConfig> <!-- Max motor current (5.0) -->
<sdoConfig idx="2007" subIdx="6"><sdoDataRaw data ="05"/></sdoConfig> <!-- Input 6 - Emergency Stop -->
<sdoConfig idx="2007" subIdx="5"><sdoDataRaw data ="05"/></sdoConfig> <!-- Input 3 - Home Function -->
<sdoConfig idx="2011" subIdx="0"><sdoDataRaw data ="01 00"/></sdoConfig> <!-- Closed loop -->
<sdoConfig idx="6098" subIdx="0"><sdoDataRaw data ="11 00"/></sdoConfig> <!-- Home mode 17 -->
<sdoConfig idx="607C" subIdx="0"><sdoDataRaw data ="00 00"/></sdoConfig> <!-- Home offset 0 -->
<sdoConfig idx="609A" subIdx="0"><sdoDataRaw data ="F4 01"/></sdoConfig> <!-- Home accelleration 500 -->
<sdoConfig idx="6099" subIdx="01"><sdoDataRaw data ="C4 09"/></sdoConfig> <!-- Home fast speed 2500-->
<sdoConfig idx="6099" subIdx="02"><sdoDataRaw data ="F4 01"/></sdoConfig> <!-- Home slow speed 500 -->
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<!-- Target Position -->
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<!-- Target Velocity -->
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
<!-- Digtial Outputs (manufacturer's extension ECT86/ECT60)-->
<pdoEntry idx="204A" subIdx="0" bitLen="16" halType="complex">
<complexEntry bitLen="1" halPin="out-1" halType="bit"/>
<complexEntry bitLen="1" halPin="out-2" halType="bit"/>
<complexEntry bitLen="14"/>
</pdoEntry>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
<!-- Digtial_inputs (cia402 compatible) -->
<pdoEntry idx="60FD" subIdx="0" bitLen="32" halType="complex">
<complexEntry bitLen="1" halPin="CW-limit" halType="bit"/>
<complexEntry bitLen="1" halPin="CCW-limit" halType="bit"/>
<complexEntry bitLen="1" halPin="in-home" halType="bit"/>
<complexEntry bitLen="13"/>
<complexEntry bitLen="1" halPin="in-1" halType="bit"/>
<complexEntry bitLen="1" halPin="in-2" halType="bit"/>
<complexEntry bitLen="1" halPin="in-3" halType="bit"/>
<complexEntry bitLen="1" halPin="in-4" halType="bit"/>
<complexEntry bitLen="1" halPin="in-5" halType="bit"/>
<complexEntry bitLen="1" halPin="in-6" halType="bit"/>
<complexEntry bitLen="10"/>
</pdoEntry>
</pdo>
</syncManager>
</slave>
</master>
</masters>
<masters>
<master idx="0">
<slave idx="0" type="ECT60" name="D1">
<!-- Enable support for Cyclic Synchronous Position mode. -->
<modParam name="enableCSP" value="true"/>
<!-- Enable support for Cyclic Synchronous Velocity mode. -->
<modParam name="enableCSV" value="false"/>
<!-- Maximum stepper Amps. -->
<modParam name="peakCurrent_amps" value="6.0"/>
<!-- Operation mode: openloop, closedloop, or foc. -->
<modParam name="controlMode" value="closedloop"/>
<!-- Number of encoder steps per revolution. -->
<modParam name="encoderResolution" value="4000"/>
<!-- Output 1 use: general, alarm, brake, in-place. -->
<modParam name="output1Func" value="alarm"/>
<!-- Output 2 use: general, alarm, brake, in-place. -->
<modParam name="output2Func" value="brake"/>
<!-- Input 3 use: general, cw-limit, ccw-limit, home, clear-fault, emergency-stop, motor-offline, probe1, probe2 -->
<modParam name="input3Func" value="cw-limit"/>
<!-- Input 4 use: general, cw-limit, ccw-limit, home, clear-fault, emergency-stop, motor-offline, probe1, probe2 -->
<modParam name="input4Func" value="ccw-limit"/>
<!-- Input 5 use: general, cw-limit, ccw-limit, home, clear-fault, emergency-stop, motor-offline, probe1, probe2 -->
<modParam name="input5Func" value="home"/>
<!-- Input 6 use: general, cw-limit, ccw-limit, home, clear-fault, emergency-stop, motor-offline, probe1, probe2 -->
<modParam name="input6Func" value="motor-offline"/>
</slave>
<slave idx="1" type="basic_cia402" vid="0x00000a88" pid="0x0a880013" name="D2">
<!--RS750E(COE)-->
<modParam name="ciaRxPDOEntryLimit" value="9"/>
<modParam name="ciaTxPDOEntryLimit" value="9"/>
<modParam name="enablePP" value="true"/>
<modParam name="enablePV" value="true"/>
<modParam name="enableTQ" value="true"/>
<modParam name="enableHM" value="true"/>
<modParam name="enableCSP" value="true"/>
<modParam name="enableCSV" value="true"/>
<modParam name="enableCST" value="true"/>
<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="enableFollowingErrorTimeout" value="true"/>
<modParam name="enableFollowingErrorWindow" value="true"/>
<modParam name="enableHomeAccel" value="true"/>
<modParam name="enableMaximumCurrent" value="true"/>
<modParam name="enableMaximumTorque" value="true"/>
<modParam name="enablePolarity" value="true"/>
<modParam name="enablePositionDemand" value="true"/>
<modParam name="enablePositioningTime" value="true"/>
<modParam name="enablePositioningWindow" value="true"/>
<modParam name="enableProbeStatus" value="true"/>
<modParam name="enableProfileAccel" value="true"/>
<modParam name="enableProfileDecel" value="true"/>
<modParam name="enableProfileMaxVelocity" value="true"/>
<modParam name="enableProfileVelocity" value="true"/>
<modParam name="enableTargetTorque" value="true"/>
<modParam name="enableTorqueDemand" value="true"/>
<modParam name="enableTorqueSlope" value="true"/>
<modParam name="enableVelocityErrorTime" value="true"/>
<modParam name="enableVelocityErrorWindow" value="true"/>
</slave>
<slave idx="2" type="basic_cia402" vid="0x00000a88" pid="0x0a880013" name="D3">
<!--RS750E(COE)-->
<modParam name="ciaRxPDOEntryLimit" value="9"/>
<modParam name="ciaTxPDOEntryLimit" value="9"/>
<modParam name="enablePP" value="true"/>
<modParam name="enablePV" value="true"/>
<modParam name="enableTQ" value="true"/>
<modParam name="enableHM" value="true"/>
<modParam name="enableCSP" value="true"/>
<modParam name="enableCSV" value="true"/>
<modParam name="enableCST" value="true"/>
<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="enableFollowingErrorTimeout" value="true"/>
<modParam name="enableFollowingErrorWindow" value="true"/>
<modParam name="enableHomeAccel" value="true"/>
<modParam name="enableMaximumCurrent" value="true"/>
<modParam name="enableMaximumTorque" value="true"/>
<modParam name="enablePolarity" value="true"/>
<modParam name="enablePositionDemand" value="true"/>
<modParam name="enablePositioningTime" value="true"/>
<modParam name="enablePositioningWindow" value="true"/>
<modParam name="enableProbeStatus" value="true"/>
<modParam name="enableProfileAccel" value="true"/>
<modParam name="enableProfileDecel" value="true"/>
<modParam name="enableProfileMaxVelocity" value="true"/>
<modParam name="enableProfileVelocity" value="true"/>
<modParam name="enableTargetTorque" value="true"/>
<modParam name="enableTorqueDemand" value="true"/>
<modParam name="enableTorqueSlope" value="true"/>
<modParam name="enableVelocityErrorTime" value="true"/>
<modParam name="enableVelocityErrorWindow" value="true"/>
</slave>
</master>
</masters>
- farmer_mike
- farmer_mike
07 Jun 2025 17:55
test post was created by farmer_mike
test post
Category: Off Topic and Test Posts
Thanks for the help everyone. I decided to move my project to a Raspberry Pi 4, so I made sure to use the latest versions of LinuxCNC and Ethercat. I think I have the experimental XML config working now. I am a little unsure what to do with the output file.
I'll paste two files below. The first file is the ethercat-conf.xml from my CNC project when I had a single axis using an Rtelligent ECT 60 stepper motor.The single axis worked, so I have since bought two Rtelligent RS750E AC Servo drives. All I have done with the RS750E drives is power them up and connect the Ethernet. I haven't done any onboard parameter programming yet.
The experimental XML config generator recognized all three drives in order.
Is the output from the experimental XML config generator meant to be used to create the ethercat-conf.xml file?
I'll paste two files below. The first file is the ethercat-conf.xml from my CNC project when I had a single axis using an Rtelligent ECT 60 stepper motor.The single axis worked, so I have since bought two Rtelligent RS750E AC Servo drives. All I have done with the RS750E drives is power them up and connect the Ethernet. I haven't done any onboard parameter programming yet.
The experimental XML config generator recognized all three drives in order.
Is the output from the experimental XML config generator meant to be used to create the ethercat-conf.xml file?
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
<!-- Joint 0 -->
<slave idx="0" type="generic" vid="00000a88" pid="0a880002" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="88 13"/></sdoConfig> <!-- Max motor current (5.0) -->
<sdoConfig idx="2007" subIdx="6"><sdoDataRaw data ="05"/></sdoConfig> <!-- Input 6 - Emergency Stop -->
<sdoConfig idx="2007" subIdx="5"><sdoDataRaw data ="05"/></sdoConfig> <!-- Input 3 - Home Function -->
<sdoConfig idx="2011" subIdx="0"><sdoDataRaw data ="01 00"/></sdoConfig> <!-- Closed loop -->
<sdoConfig idx="6098" subIdx="0"><sdoDataRaw data ="11 00"/></sdoConfig> <!-- Home mode 17 -->
<sdoConfig idx="607C" subIdx="0"><sdoDataRaw data ="00 00"/></sdoConfig> <!-- Home offset 0 -->
<sdoConfig idx="609A" subIdx="0"><sdoDataRaw data ="F4 01"/></sdoConfig> <!-- Home accelleration 500 -->
<sdoConfig idx="6099" subIdx="01"><sdoDataRaw data ="C4 09"/></sdoConfig> <!-- Home fast speed 2500-->
<sdoConfig idx="6099" subIdx="02"><sdoDataRaw data ="F4 01"/></sdoConfig> <!-- Home slow speed 500 -->
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<!-- Target Position -->
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<!-- Target Velocity -->
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
<!-- Digtial Outputs (manufacturer's extension ECT86/ECT60)-->
<pdoEntry idx="204A" subIdx="0" bitLen="16" halType="complex">
<complexEntry bitLen="1" halPin="out-1" halType="bit"/>
<complexEntry bitLen="1" halPin="out-2" halType="bit"/>
<complexEntry bitLen="14"/>
</pdoEntry>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
<!-- Digtial_inputs (cia402 compatible) -->
<pdoEntry idx="60FD" subIdx="0" bitLen="32" halType="complex">
<complexEntry bitLen="1" halPin="CW-limit" halType="bit"/>
<complexEntry bitLen="1" halPin="CCW-limit" halType="bit"/>
<complexEntry bitLen="1" halPin="in-home" halType="bit"/>
<complexEntry bitLen="13"/>
<complexEntry bitLen="1" halPin="in-1" halType="bit"/>
<complexEntry bitLen="1" halPin="in-2" halType="bit"/>
<complexEntry bitLen="1" halPin="in-3" halType="bit"/>
<complexEntry bitLen="1" halPin="in-4" halType="bit"/>
<complexEntry bitLen="1" halPin="in-5" halType="bit"/>
<complexEntry bitLen="1" halPin="in-6" halType="bit"/>
<complexEntry bitLen="10"/>
</pdoEntry>
</pdo>
</syncManager>
</slave>
</master>
</masters>
<masters>
<master idx="0">
<slave idx="0" type="ECT60" name="D1">
<!-- Enable support for Cyclic Synchronous Position mode. -->
<modParam name="enableCSP" value="true"/>
<!-- Enable support for Cyclic Synchronous Velocity mode. -->
<modParam name="enableCSV" value="false"/>
<!-- Maximum stepper Amps. -->
<modParam name="peakCurrent_amps" value="6.0"/>
<!-- Operation mode: openloop, closedloop, or foc. -->
<modParam name="controlMode" value="closedloop"/>
<!-- Number of encoder steps per revolution. -->
<modParam name="encoderResolution" value="4000"/>
<!-- Output 1 use: general, alarm, brake, in-place. -->
<modParam name="output1Func" value="alarm"/>
<!-- Output 2 use: general, alarm, brake, in-place. -->
<modParam name="output2Func" value="brake"/>
<!-- Input 3 use: general, cw-limit, ccw-limit, home, clear-fault, emergency-stop, motor-offline, probe1, probe2 -->
<modParam name="input3Func" value="cw-limit"/>
<!-- Input 4 use: general, cw-limit, ccw-limit, home, clear-fault, emergency-stop, motor-offline, probe1, probe2 -->
<modParam name="input4Func" value="ccw-limit"/>
<!-- Input 5 use: general, cw-limit, ccw-limit, home, clear-fault, emergency-stop, motor-offline, probe1, probe2 -->
<modParam name="input5Func" value="home"/>
<!-- Input 6 use: general, cw-limit, ccw-limit, home, clear-fault, emergency-stop, motor-offline, probe1, probe2 -->
<modParam name="input6Func" value="motor-offline"/>
</slave>
<slave idx="1" type="basic_cia402" vid="0x00000a88" pid="0x0a880013" name="D2">
<!--RS750E(COE)-->
<modParam name="ciaRxPDOEntryLimit" value="9"/>
<modParam name="ciaTxPDOEntryLimit" value="9"/>
<modParam name="enablePP" value="true"/>
<modParam name="enablePV" value="true"/>
<modParam name="enableTQ" value="true"/>
<modParam name="enableHM" value="true"/>
<modParam name="enableCSP" value="true"/>
<modParam name="enableCSV" value="true"/>
<modParam name="enableCST" value="true"/>
<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="enableFollowingErrorTimeout" value="true"/>
<modParam name="enableFollowingErrorWindow" value="true"/>
<modParam name="enableHomeAccel" value="true"/>
<modParam name="enableMaximumCurrent" value="true"/>
<modParam name="enableMaximumTorque" value="true"/>
<modParam name="enablePolarity" value="true"/>
<modParam name="enablePositionDemand" value="true"/>
<modParam name="enablePositioningTime" value="true"/>
<modParam name="enablePositioningWindow" value="true"/>
<modParam name="enableProbeStatus" value="true"/>
<modParam name="enableProfileAccel" value="true"/>
<modParam name="enableProfileDecel" value="true"/>
<modParam name="enableProfileMaxVelocity" value="true"/>
<modParam name="enableProfileVelocity" value="true"/>
<modParam name="enableTargetTorque" value="true"/>
<modParam name="enableTorqueDemand" value="true"/>
<modParam name="enableTorqueSlope" value="true"/>
<modParam name="enableVelocityErrorTime" value="true"/>
<modParam name="enableVelocityErrorWindow" value="true"/>
</slave>
<slave idx="2" type="basic_cia402" vid="0x00000a88" pid="0x0a880013" name="D3">
<!--RS750E(COE)-->
<modParam name="ciaRxPDOEntryLimit" value="9"/>
<modParam name="ciaTxPDOEntryLimit" value="9"/>
<modParam name="enablePP" value="true"/>
<modParam name="enablePV" value="true"/>
<modParam name="enableTQ" value="true"/>
<modParam name="enableHM" value="true"/>
<modParam name="enableCSP" value="true"/>
<modParam name="enableCSV" value="true"/>
<modParam name="enableCST" value="true"/>
<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="enableFollowingErrorTimeout" value="true"/>
<modParam name="enableFollowingErrorWindow" value="true"/>
<modParam name="enableHomeAccel" value="true"/>
<modParam name="enableMaximumCurrent" value="true"/>
<modParam name="enableMaximumTorque" value="true"/>
<modParam name="enablePolarity" value="true"/>
<modParam name="enablePositionDemand" value="true"/>
<modParam name="enablePositioningTime" value="true"/>
<modParam name="enablePositioningWindow" value="true"/>
<modParam name="enableProbeStatus" value="true"/>
<modParam name="enableProfileAccel" value="true"/>
<modParam name="enableProfileDecel" value="true"/>
<modParam name="enableProfileMaxVelocity" value="true"/>
<modParam name="enableProfileVelocity" value="true"/>
<modParam name="enableTargetTorque" value="true"/>
<modParam name="enableTorqueDemand" value="true"/>
<modParam name="enableTorqueSlope" value="true"/>
<modParam name="enableVelocityErrorTime" value="true"/>
<modParam name="enableVelocityErrorWindow" value="true"/>
</slave>
</master>
</masters>
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