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  • Hakan
  • Hakan
21 May 2025 08:49
Replied by Hakan on topic RTelligent EtherCAT Servo Drive Setup: RS750E

RTelligent EtherCAT Servo Drive Setup: RS750E

Category: EtherCAT

Typically you want to use the cia402 component with such a drive.
The cia402 component is in your installation already, here is an
example of how to set it up in  hal.
github.com/dbraun1981/hal-cia402/tree/main/example
  • Hakan
  • Hakan
21 May 2025 08:13
Replied by Hakan on topic Experimental XML config generator

Experimental XML config generator

Category: EtherCAT

It's
lcec_configgen
and comes with the linuxcnc-ethercat package. It first appeared a year ago (April -24) so might be too new for your installation.
 
  • MTate01
  • MTate01
21 May 2025 08:12 - 21 May 2025 08:22
RTelligent EtherCAT Servo Drive Setup: RS750E was created by MTate01

RTelligent EtherCAT Servo Drive Setup: RS750E

Category: EtherCAT

Good day

I am currently trying to configure my linuxcnc to communicate with an RTelligent (Shenzhen Ruitech) RS750E AC Servo Drive. 

So far, I think I've correctly compiled an ethercat-conf.xml file for the single slave (for now) (from here) but am struggling with any further steps. I can successfully read registers (ie cia-controlword) and things like that, I can attempt to write them - by setting pins eg setp lcec.0.0.cia-controlword 15, but there is no change in cia-statusword. The same applies for opmode. 

Additionally, my drive never seems to exit PREOP. sudo ethercat states -p0 OP doesn't change state from PREOP. I figure that there is something I might need to do with registers, either in a specific order, or through the PC software (RSConfigurator), but the latter is rather confusing and i've had no success attempting such. I can change it to and from INIT (without errors) to PREOP (without errors), but as soon as I try SAFEOP or OP it stalls back to PREOP and has an error flag. I assume this means my XML might be wrong. 
I've also attempted to set up my ethercat.hal and changed the joint/axis info in my axis-edited.ini, but still no change occurs on the drive or servo. 

I cannot find any documentation on these AC servo drives from RTelligent here, but I will also be sending their support a ticket to see if they can help me. The appropriate files are below:

ethercat-conf.xml:
[code]<masters>
 <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
  <slave idx="0" type="generic" vid="00000A88" pid="0a880013" configPdos="tru>
    <!-- Joint 0 -->
    <syncManager idx="0" dir="out">
    </syncManager>
    <syncManager idx="1" dir="out">
    </syncManager>
    <syncManager idx="2" dir="out">
      <pdo idx="1600">
        <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword">
        <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="target-position">
        <pdoEntry idx="60b8" subIdx="00" bitLen="16" halPin="touchprobefuncti>
      </pdo>
      <pdo idx="1601">
        <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword0>
        <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="target-position0>
        <pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="target-velocity">
        <pdoEntry idx="6083" subIdx="00" bitLen="32" halPin="target-accel" ha>
        <pdoEntry idx="6084" subIdx="00" bitLen="32" halPin="target-decel" ha>
        <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType=">
      </pdo>
      <pdo idx="1602">
        <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol2" h>
        <pdoEntry idx="6083" subIdx="00" bitLen="32" halPin="accelcommand2" h>
        <pdoEntry idx="6084" subIdx="00" bitLen="32" halPin="decelcommand2" h>
        <pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="targetvelocomman>
        <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="modeofoperation2">
      </pdo>
    </syncManager>
    <syncManager idx="3" dir="in">
      <pdo idx="1a00">
        <pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halTy>
        <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" >
        <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" h>
        <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position">
        <pdoEntry idx="60b9" subIdx="00" bitLen="16" halPin="touchprobestat" >
        <pdoEntry idx="60ba" subIdx="00" bitLen="32" halPin="touchprobe1pos" >
        <pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digitalinputs" h>
      </pdo>
      <pdo idx="1a01">
        <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivecontroltx1">
        <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="modeofoperationtx>
        <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-velocity">
        <pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digitalinputs1" >
      </pdo>
    </syncManager>
    <dcConf assignActivate="300" sync0Cycle="1"/>
  </slave>
 </master>
</masters>

a modified ethercat-conf, with the same results:
[code]<masters>
 <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
  <slave idx="0" type="generic" vid="0x00000A88" pid="0x0A880013" configPdos="true">
   <syncManager idx="2" dir="out">
    <pdo idx="1600">
     <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword"/>
     <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position"/>
    </pdo>
   </syncManager>
   <syncManager idx="3" dir="in">
    <pdo idx="1A00">
     <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword"/>
     <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position"/>
    </pdo>
   </syncManager>
   <dcConf assignActivate="300" sync0Cycle="1"/>
  </slave>
 </master>
</masters>

ethercat.hal:
[code]loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
addf lcec.read-all servo-thread
addf lcec.write-all servo-thread

setp lcec.0.0.opmode 8
setp lcec.0.0.cia-controlword 15
setp lcec.0.0.opmode 8
[/code][/code][/code]
  • tommylight
  • tommylight's Avatar
21 May 2025 07:35
Replied by tommylight on topic The numpty needs help

The numpty needs help

Category: Basic Configuration

Personally, i would not update if everything is working properly, i still have plenty of machines running 10.04.
The main reason being, 10.04 uses RTAI kernel, while everything after Wheezy uses RT-Preempt kernel that is better suited to new PC's, so it might limit the step rate you can get/machine speed, sometimes a lot.
-
If you still want to move ahead, upload the old and the new configs here.
Usually the wizard will convert working configs form 2.5-2.7 to 2.8-2.9 without issues the first time you run the old config, so what happened? Does the machine have non standard ...something or anything?
Right click on the old .ini file, choose open with, type linuxcnc near the bottom of that window, click OK, what happens?
  • tommylight
  • tommylight's Avatar
21 May 2025 07:27
Replied by tommylight on topic [SOLVED] MesaCT problems with 7i96 pwm spindle

[SOLVED] MesaCT problems with 7i96 pwm spindle

Category: Configuration Tools

Pictures of your VFD connectors?
Not from the net, last week i dealt with two of the same make and model VFD that are not the same in any way, nor are the electronics the same.
  • Aciera
  • Aciera's Avatar
21 May 2025 06:23
Replied by Aciera on topic Calling next subroutine messes up offsets

Calling next subroutine messes up offsets

Category: General LinuxCNC Questions

The 'F' word in the 'G0' line does indeed only apply to G1, G2, G3 moves. The F value is retained though and some of the first G1 moves in the subroutines are actually missing the F word which seems a bit odd but it works I guess.:
eg line N3620
N3570  (Engrave) 
N3571  O103 SUB
N3580  G0 X0 Y0 Z1.0 
N3590  G0 Z0.0
N3591  M01
N3600  G0 X-0.7617 Y-1.2343 
N3610  G0 Z0.8681 
N3620  G1 X-0.7617 Y-1.2343 Z-0.0500 
N3630  G1 X-0.7983 Y-1.2510 Z-0.0500 F70.0000


G92 affects all coordinate systems, this can be handy but it can also be a bit confusing.
linuxcnc.org/docs/html/gcode/g-code.html#gcode:g92


The difficulty I am having is moving from the end of the 4th position of the first subroutine back to the start (first) position of the second subroutine (o103) and repositioning the Z axis.


The first round (o100) is done with 'G92 Z0.75' while the second (o103) is done with 'G92 Z0.0'. It seems that there is no tool-length offset used (ie no G43). I don't know what your tool change work flow is but this would require that the tools used have exactly the same length OR the G92 offset is used to compensate for different tool-length, which would be a somewhat odd way of doing things.
  • Murphy
  • Murphy
21 May 2025 06:12
Replied by Murphy on topic Remora - ethernet NVEM / EC300 / EC500 cnc board

Remora - ethernet NVEM / EC300 / EC500 cnc board

Category: Computers and Hardware

Sorry my mistake , I thought you where uploading the config file. I used windows through the command prompt and ran pyocd to upload mine .
  • farmer_mike
  • farmer_mike
21 May 2025 05:12
Replied by farmer_mike on topic Experimental XML config generator

Experimental XML config generator

Category: EtherCAT

Hi, the config generator looks like a helpful tool. I have one Rtelligent ECT60 stepper drive running and I now need to figure out how to add two Rtelligent RS750E AC servo drives.

I apologize for asking such a simple question, but I am not sure how to run the lcec-configgen. Maybe I don't have it installed. I am clearly inexperienced, so I could be missing something simple.

I appreciate everyone's help on the forum.

I've attached a picture of my terminal and my version of Ethercat. My linuxCNC version is 2.9.2 

  • Thayloreing
  • Thayloreing
21 May 2025 03:37 - 21 May 2025 03:38
Replied by Thayloreing on topic Remora - ethernet NVEM / EC300 / EC500 cnc board

Remora - ethernet NVEM / EC300 / EC500 cnc board

Category: Computers and Hardware

@Murphy I'm not sure if I understood, when you ping to change, are you talking about Ethernet communication? If so, what is the relationship between being able to upload Remora to the cloud? Sorry for my lack of understanding, I'm just trying to understand, because Ethernet communication is one communication, and CMSIS DAP via USB is not another? Or do I have to configure an address for the USB CMSIS DAP
  • pgf
  • pgf
21 May 2025 03:03
Replied by pgf on topic Flex GUI 1.2.1 Released

Flex GUI 1.2.1 Released

Category: Flex GUI

Excellent! I just got my new mill converted to LinuxCNC, and was thinking that maybe I should tackle the gui before going too much further. Did a search to see how you were doing, and look! A new release. :-) I like the idea of starting with an axis-style gui -- after all, it's what I'm used to.

Looking forward to giving it a try!
  • oddwick
  • oddwick's Avatar
21 May 2025 03:00
Replied by oddwick on topic [SOLVED] MesaCT problems with 7i96 pwm spindle

[SOLVED] MesaCT problems with 7i96 pwm spindle

Category: Configuration Tools

ok so i for the most part got it working now, thanks jt pete and tom for the help! basically if i run the pwm module at 14v i get close enough to 5-10v to give me 12-24k rpm.
the last thing i just need to figure out is how to get the spindle to actually start. been trying to decipher a chinglish manual all afternoon to program this vfd. to be fair tho, it is actually better translated than the other ones ive dealt with. i can set the working frequency from linuxcnc but cant actually get it to start remotely. if anybody has any experience with a huanyang fc01, any help would be greatly appreciated!
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