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Output from "ethercat pdos" in attached file.

0x2605 works just fine: that's the DC link voltage and I can read that from all 3 drives.
0x260B does not.

The drive manual doesn't discuss SDOs, or whether some data index is a PDO or SDO. I would hope a temperature sensor would be continuously readable, which would require it to be a PDO.

With pll-reset-count steady at to 2 it should be fine.

Try to locate temperature sensors in the pdo listing from "ethercat pdos".
I suspect you are addressing a sdo with 2605 and that won't work.
You'll find out from the ethercat pdos listing.

I recently did this and my exact command was:
"./configure --sysconfdir=/etc/ --disable-8139too --enable-userlib --enable-generic --disable-eoe"

$lcecObject.pll-error-count is holding at 2. I haven't seen it increase yet.

I want to read some more data from the drives, and it won't work. See attached iX7NH.xml, line 23. I want to see the temperature values from the drive, but I can't read them. As shown, where pdoEntry idx="260B", the drive stays in PREOP (see dmesg output in dmesg260B.txt). If I change the index to "2606", the drive will go to OP (see dmesg output in dmesg2606.txt) and I can see the number through HAL (that I don't want). Registers 2606 and 260B are both 16 bit signed integers.
Any of 260B, 260C, or 260D (all temperature sensors in the servo system) have the same effect.


I can read the values manually with "ethercat upload -p0 -t int16 0x260B 0" and I get some number.
The drive manual says I can read up to 10 registers with one TxPDO: I have 6.
It also says that I am limited to 28 bytes in one TxPDO: I have 13.
How do I do this?

The sync component only calculates the c-pos-sync.0.pos_cmd_out, but has no effect to the joint.0.motor-pos-cmd.

It takes joint.0.motor-pos-cmd as c-pos-sync.0.pos-cmd-in and joint.0.motor-pos-fb as c-pos-sync.0.pos-fb_in. The calculated delta is called offset. So in spindle mode cmd_out = fb_in, but cmd_in is fixed. That results in the following joint error.

FUNCTION(_) {
    if (!c_mode_active) {
        offset = pos_fb_in - pos_cmd_in;
        pos_cmd_out = pos_fb_in;
    } else {
        pos_cmd_out = pos_cmd_in + offset;
    }
}

I thought ADm1N solved this with the c_pos_sync component?

I'm not familiar with ethercat but the somewhat 'established' strategy when switching between spindle and rotary is to use a hal component to freeze the encoder position feedback when switching to spindle mode and reposition the spindle using M19 before switching back to rotary mode and reconnecting the encoder signal.

The problem in spindle mode is, that the cia402 pos-fb is mapped to joint motor-pos-fb, but joint motor-pos-cmd is fixed. So joint f-error increases over time. Now I'm not sure how to solve this problem, cause I can't manipulate joint motor-pos-cmd. One way would be to freeze joint motor pos-fb, this way there is no f-error and track the movement to set an offset. But I can't figure out how to solve this, without writing to joint motor-pos-cmd.

The following error should also be a problem for aDm1N. But I assume it is less important, cause he only has 8000inc/rev, where I have 131072inc/rev, so the error adds up much slower. This would also explain FERROR = 1000000 in his ini.

Whats actual hardware do you have?

It sounds like a 7C81 and one 7I78.

It that case is might be simpler to use something like a pncconf 5i25/G540 configuration
as a starting point as that would al least let you setup the PWM spindle in pncconf.

In general, if you have the correct firmware for the daughtercard, the pins don't matter
in the hal files, what is significant is the module number like stepgen 0,1,2,3, etc.
The exception is GPIO pins.

The 7I78 encoder pins will have names like hm2_7c81.0.encoder.00.position.
7I73 MPG encoders will have names like hm2_7c81.0.7i73.0.0.enc0.position

Note that you can list all pin and parameter names when LinuxCNC is running with:

halcmd show all hm2





 

there is a duplicate addif at the beginning of the file, so it appears as the first error, I commented on that, but it also appears another type of scalemax.1 in not found

Thanks. That worked.
Before, it was unsuccessful with linuxcnc status.
Now i tested, by press the pushbutton, i can read the file by lines
 

On the Proma, the first and second settings should be set at minimum, i do not recall what was the third and forth settings.
Only after having this work you can set voltage higher if it wobbles a lot while cutting.

Thanks for the answer, but I understand that I have to edit it.
Only the 7i76 card has a different pin arrangement. Otherwise, the pins on P1 are DB25. Fortunately, the pins for the first four axes are identical. I already wrote that, it works without problems.
But while the 7i78 has spindle control, serial interface and encoder for the spindle on pins 05-13, the 7i76 has an output for the fifth stepper motor, two serial interfaces and an encoder on the same pins. That encoder is labeled ENx, unlike the encoder on the 7i78 - it is QUADx. I don't know if it's the same.
So if, for example, I activate the spindle encoder on P1 in pncconf, will it be the same for the 7i78? And further, on connectors P1 and P2 (on which the 7i78 can be physically located), there is no option to set spindle dir, enable. I set this on P7 but I need it to be on P1. Will it be enough to overwrite the IO number and will it work?
Let me not forget, on the P7 pins it is possible to set the direction of rotation for the spindle - two pins, but on the P1 DB25 there is a SPINDIR pin which is one pin. So if I set one pin on P7 to CW and the other to CCW, will it get to the right place on the 7i78?

Voltage is set to 100 and H-t to 5.

What settings are on the Proma THC150 ?