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Aciera,
I also try to follow your explanation here : forum.linuxcnc.org/ethercat/52968-help-n...oming-setup?start=30

I got : "waiting for joint 0 to finish homing ...", but motor not move.

Thx.

if i have overlooked any open questions, please ask again, i was a bit busy at the weekend and lost the thread

---

here is my excuse:mitsubishi rv-e2 

 
without controller and one harmonic drive is broken
 

• PDOs for parameter channel and process data - You have to set SDO via ethercat-conf.xml on startup else there will be a default values I thought
• cycle time 1ms - this is right, default is 4ms which should cause lagging
• use of Ethercat MDP Mapping and upload the config to the EL6731, hence no init commands or startup sdos in ethercat.xml on lcnc side necessary (Not sure here) - yes they are necessary
• not sure about settings for Distributed Clocks (just left it default, at the moment) - you active DC, it is for EL6731 necessary, GC for profibus are possible but they are not implemented in the kollmorgen card yet 

lcnc comp

• use parameter channel to set operation mode <--- velocity - from character of movement, it is necessary only velocity mode because positionning are over motion tasks in the servo internal.. 
• byte swapping magic (not sure If I got that right) - I will share my program with them... there it is probably right because it jump to enable and I had a position feedback directly
• scaling the velocity and position feedback (not sure about the scaling numbers, docu is a mess, as you probably know

Here are my issues / todos

• I'm not sure if I correctly use the parameter channel of profibus (PKW) Due to lack of understanding of SDOs, I simply put the PKW as an PDO and initialize the drive on startup -- IMHO it would be better to do that via SDO or some other hard-coded init sequence I'm not aware of. Maybe the constantly send/rec of the parameter channel causes the timing issues. - there it is little bit different, it had only one universal canal where datas are mirroring each other - you have to be carrefull and you have to get right answer from driver itself... 
• I need to parameterize the velocity profile for the position loop. Where to do that? Drive GUI? - position loop as in the CiA standard are not directly possible because of idea of communication shape itself 
• Homing: I think of simply use the built-in homing method of lcnc, the implementation in the hal comp seems to be a bigger time effort. Here a question, in case the homing switch is reached (digital I/O of another EL card) how to set the position feedback of the kollmorgen servo to zero. - it should be tested in the drive gui and then u should run it over op mode 1 with 14 and 15 bit of zsw off ... characteristic have to be done in the driveGUI soft itselft before... I did tutorial of driveGUI installation on the Debian distro before.. lets check them, you should have easier live after
• Enable the drive is working, disable is buggy -- need to correct this  - 

I am just testing this to see how it does but cannot get it to work on 2.10.0
I get this error although Rsvg is installed.
I am on Bookworm



 

please add your config if something is not working.

if you add an step/dir plugin, you need to verify that the 'is_joint' option is set to true

Yes, it can't process by itself, as the manufacturer replied by email.
I tried step/direct with factory XML via twincat, it works. I'm still new to ethercat, I can't do much more.
This demo board is available on Alixprees th.aliexpress.com/item/1005005600858798....arch%7Cquery_from%3A

Hi JT, more feedback.

Yup, the latest mesact version runs on linuxmint.

Thank you sir. Now on to the proper hard stuff, software & hardware

Have a good day. Thanks.

Using Marco custom-homing, got this following hal-show, but motor didn't move.
You can see that opmode already change from 8 to 6.

scotta wrote:

Getting back to the topic of Remora SPI, I have pushed some updates to the repo to give command line options to specify the SPI number, CS number and frequency of the SPI interface for the RPi 5.

loadrt remora-spi SPI_num=0 CS_num=0 SPI_freq=20000000

Default frequency is 20Mhz, which is happily running on my Octopus, with Cakeslob's latest compiled firmware, without communication errors.

We'll need to update all the firmware to the latest. Thanks for your patience, but if there is a priority please let us know.

hey scott, with the ability to select the spi channel, do you think it possible to do multiple instances of remora using separate spi channels?

I kind of have the same issue. I can't get my stepper to work. Regular in and outputs work and I have double checked my wiring.

I don't see any stepgen parameters in the hal file. But I am also not sure if that would be in the hal, since the FPGA is doing the step generation ?!?

Also is there a way to adjust the timing linuxcnc.org/docs/html/man/man9/stepgen.9.html#TIMING ?

linuxgizmos.com/updated-wiznet-reveals-n...ernet-functionality/

Raspberry Pi RP2350 and the fully hardwired TCP/IP controller W5500 enhancing the capabilities of the traditional Raspberry Pi Pico2 board with additional Ethernet functionality via W5500

linuxgizmos.com/updated-wiznet-reveals-n...ernet-functionality/

docs.wiznet.io/Product/iEthernet/W5500/w5500-evb-pico2

docs.wiznet.io/Product/iEthernet/W5100S/w5100s-evb-pico2

~$14ea

Thank you for all he help you are providing to members of this forum, i do not think the "thank you" button does justice for everything you do here.
Danke schon.

M4MazakUser wrote:

The machine I have went thru a flood - it was 4 metres underwater- about 4 and a bit washing machines in American speak.

LOL
Nice one, thank you.

digiex_chris wrote:

The riocore generator seems to be generating a linuxcnc config and hal file entries for servo drives when I'm using steppers in my config. I've got PID params and other things specific to servos appearing in my rio.ini. Is this intended?

It is for Mesa hardware, so might also be for this.