Advanced Search

Is the gap a multiple of existing tool distances?
If yes, set it as tool (4 i think in your case) and just do not use tool 4 in post, and even if someone asks for tool 4 no damage should be done as the spindle does not go that low.

Here is how you assign the encoder value to the PDO variable
 

You decide yourself which SDOs and PDOs you need and want to have.
I propose to have zero SDOs to start with and only one PDO which is the hardware counter number.

 

You see at ther bottom in the figure, the save/restore button. Download all files, it will create a zip file with al you need.
Unpack those seven? files in lib/soes-esi and rebuild the code. Take the xml file to TwinCat and program the eeprom there.

You decide yourself which Vendor Id. Product code, etc etc you want to have.
Some sizes you should not change, it tells you in the mouse-over comment.

The config struct can look like this
 

And the loop()
 
A lot of clean-up  yes.

I can confirm that Innovance SV660N works by recompiling the IGH etherlab master stable-1.6 branch and installing on a fresh debian bookworm installation.
The configuration options I have used for the etherlab master are:
./configure --sysconfdir=/etc/ --disable-8139too --enable-userlib --enable-generic --disable-eoe

Thank you nanowhat.

-automata

Hello and thank you for your reply.
My encoder seems good and with the help of AI I modified the SPI to match my setup. I started from your E7000 version and made some cleaning of the main.cpp.
I went too fast and test in Twincat, I can see the device but its stuck in INIT mode yet. not surprising. I think the old eeprom is still there because in twincat, in the device I can see 8 inputs and 8 outputs, what I had on the original board.
I think I need to build the eeprom stuff correctly but I have absolutely no clue how to do it.

My github is up to date.
Do you have more information regading SDos and PDOs ? How to know what to write?

Thank you

HI Fdarling,
I actually tried to modify lcec to work with Yaskawa Sigma7 EtherCAT drive looking at the C program you have shared. I have had a little success.
I added a second domain (domain2) into lcec master but at the same time removed the write Pdos (status, actual_pos) from the lcec XML file. So the domain2 is empty pdos.
After doing this, I could enable the drive using drivecontrol regs. Although I cannot read anything from the drive (ofcourse).
Now the next step is to figure out how to add which domain to use information in the pdo configuration. I am going to try to make it backwards compatible.
I am open to all suggestions and any assistance on how to go about this task.
-automata

I am looking at the code now.
Encoder code from E3000 and E2000, are the only ones that have encoder input code.
I see that I treated it is a 16-bit counter even if TIM2 is a 32-bit counter.
I didn't research all registers, I found the encoder code here github.com/goktugh/EncoderStm32F4/
and was so happy when I found something that worked albeit 16-bit.
I think you need all files with encoder in the name

The initialization codeThere is code to handle an index pulse, you may remove that if it isn't relevant for you.
You get the current position from, it counts by itself. Just to read a register.
From that you can expand to velocity and possible other things, if that is interesting.

When you are confident that the encoder counter is rock solid it's time for spi and ethercat.
Settings are here github.com/MetalMusings/MyOwnEtherCATDev...uino-lan9252/spi.hpp The E7000 code is a good place to start for ethercat with LAN9252.
Verification of SPI is done by following the code to, from there to. SPI works when you successfully can read the test register, and the execution continues.

For the EEPROM, sdos and pdos and all that there is a utility in Utils/EEPROM_generator. Bring up a file manager view and double-click the index.html to open it in a browser. Here you enter SDOs and PDOs.  Save all and unzip all files into lib/soes-esi and it will be picked up be the code if you used the stanza I have. I think you can program the new eeprom with "ethercat sii_write eeprom.bin". I usually copied the esi file to Twincat and programmed it there, but lately I have used siitool with the -m flag, so siitool -m < xml-file > eeprom2.bin and the ethercat sii_write eeprom2.bin and that have work. 

Long post. Take it step by step. Make sure the encoder is rock solid. The ethercat part is pretty flexible once getting to know it.





 

Updated rc4 image please read notes:
github.com/ozzyrob/linuxcnc-rpi-2.9.7-image-issues

now, I don't know how to set the delta y for the second toolbox 4-5-6, because it has a gap between 123 456

youtube.com/shorts/nZJZBoi4e4g

PCW wrote:

I don't take that negative a view of clone cards, if they get more LinuxCNC users,
that's basically a good thing. 

Hats off to PCW here. His tireless support to forum users and his client base is exemplary. He really has embraced the Open Source paradigm and I think his Mesa products are stronger because of it.

There is a new image coming that has some additional fixes.

For issues in the future please post on GitHub as I'm winding back forum use.
github.com/ozzyrob/linuxcnc-rpi-2.9.7-image-issues

I explain a little better.
It's been a hard slog making these images, and like the previous issue I want to keep all the fixes, issues, tips in one place.
So rather then the forum where it's going to be many different threads I'm want a single point of support.
I did try with the previous, one big thread, and an index to that thread but I still kept having to refer people to the index for the same questions.

The making of these images involved learning the RPi guys build them, working out what can and can't be taken out, some stuff is burried in meta packages, so for instance like piwiz it's burried in a meta package, so it is a little trial and error.
I'll take the blame, as when writing the image I was only setting everything via RPi Imager, which people had tried on the 2.9.3 images. So I thought well let's do that, and have it mentioned in the download section, and in the announcement thread. So that kind of didn't work.
It would have been easier if someone offered to help test in the early days but no one put their hand up. Whilst I knew how to get the image going as recommended, I wasn't aware of what happens when you don't follow the recommended way.
In saying that I have realised a few things. The main being to take a little longer to push them out, and to be clearer when explaining.
So guys if you can work with me on this, especially with reporting issues via GitHub, as I get emails when issues are raised, that would be great.
Thanks
Rob

When y'all say the first boot wizard, do you mean `raspi-config` or `piwiz`? Neither of them are starting for me on first boot with a card imaged with the latest Debian Trixie image I downloaded earlier today. I can't imagine I'm supposed to run a machine while logged into user `rpi-first-boot-wizard`, so something is supposed to change. 

I can `useradd` with the best of them, and I even know how to add a `udev` rules file that opens up the permissions on the GPIO. What I don't know is how the image is designed to be used out of the box.

EDIT: Forgot to mention that `piwiz`isn't found when I try to run it from terminal. `raspi-config` is there and usable, though, so I can get the thing on WiFi to update packages.

Perhaps I was a bit too harsh.

My foot hurts (I dropped a light drill battery charger on it and it really hurts now for no clear reason), maybe that made me cranky and mean.

hi  fdarling ,
Could you share the driver or your modifications to lcec to make a Yaskawa Sigma7 EtherCAT drive to work?
I could get the c file in your tar to compile and I could get the actual position display from a Yaskawa Sigma7 drive on the screen.
The question I have it how to integrate the two domain requirement into the lcec_main.c component.
Hope you can guide me on this.
Thanks,
-automata

Why would the board be rendered unusable?

Just buy replacement 74HCT00 series chips to replace the old TTL chips (or you can buy ttl ones for an exact replacement, but HCT chips are guaranteed to have exactly the same specs, just with a lower power consumption).

Why would you disassemble the board in the first place?

A picture would be helpful.

Please tell us your end goal.

If the processor board still works, use it to help you reverse engineer the I/O pinout of the main board.

You don't need to take something apart to know how it works, though it certainly can be helpful.

Figure out how to power the main board and power it, possibly through a low Ω resistor just to make sure nothing will get fried.

With the board powered, apply 5VDC (regulated) through a resistor to various input pins to see what they do.

You can also check the state of output pins by connecting them to an led through a resistor (make sure not to draw too much current, just in case).

Don't desolder the components from the board, it's essentially pointless.