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samlevy0515
samlevy0515

Yesterday 08:50

Replied by samlevy0515 on topic Mecanumeric MF2040 LI retrofit (Pantograph)

Mecanumeric MF2040 LI retrofit (Pantograph)

Category: Milling Machines

If you want 90% of Delta's performance at 60% cost, pick Leadshine.

unknown
unknown

Yesterday 08:45

Replied by unknown on topic LinuxCNC compatible industrial PC

LinuxCNC compatible industrial PC

Category: Computers and Hardware

Just run the latency tests that come with linuxcnc. If they look ok go with it.
But I've never had much faith with the Atom platform for Linuxcnc.

workshop54
workshop54

Yesterday 08:14

Replied by workshop54 on topic LinuxCNC compatible industrial PC

LinuxCNC compatible industrial PC

Category: Computers and Hardware

I did some configuration and testing on the Fitlet3.

I made changes in the BIOS, ran the script created by mozmck ( forum.linuxcnc.org/38-general-linuxcnc-q...ead-and-irq-affinity ) and did the latency test (results in the thread forum.linuxcnc.org/38-general-linuxcnc-q...ead-and-irq-affinity ). It doesn't look too good so far for the Fitlet3.

Does anyone have ideas on how to improve it because I'm all out of ideas (for now)

Hakan
Hakan

Yesterday 08:10

Replied by Hakan on topic Help! Regarding the data reading offset issue of the ether cat IO module

Help! Regarding the data reading offset issue of the ether cat IO module

Category: EtherCAT

Can you please confirm that you do not see the 16-bit shift in Codesys.

Can you also please confirm that you see/don't see the 16-bit shift in linuxcnc using <complexentry>

Please show the output when you in linuxcnc enter test-values for the bit-outs pins. Do all 32 pins individually.

Change the line <pdoEntry idx="7010" subIdx="01" bitLen="32" halPin="bit-out" halType="bit"/> to <pdoEntry idx="7010" subIdx="01" bitLen="32" halPin="bit-out" halType="u32"/> and redo the bit output test. Do one bit at the time. All 1,2,4,8,16, 32, 64,128, and so on up to the 31th bit.

Show the input and output for all these tests in a way that one clearly can see and correlate the linuxcnc input and the drive output.

Can you please show the output of "ethercat -p 1 -m 1 pdos" Modify the p and m field values as needed to get the output from the tested unit.

Can you please provide a screenshot from Codesys of the definition of the output variable. To include at least pdo index, pdo entry index, subindex, datatype and datatype length.

workshop54
workshop54

Yesterday 08:08

Replied by workshop54 on topic Results of latency test, list of computers tested for use with LinuxCNC

Results of latency test, list of computers tested for use with LinuxCNC

Category: Computers and Hardware

I just did the latency test on a Fitlet3 after making some changes to the BIOS and running the script from forum.linuxcnc.org/38-general-linuxcnc-q...ead-and-irq-affinity

LinuxCNC pc tests, version 20200930, started 28.05.2025 09:37:54
********************************************************************************
General info:
Compulab,  fitlet3
Bios version FLT3.TPM.00.09, dated 06/08/2024
Chipset: Harddisk is non-rotational, ie. SSD
The amount of swap currently used is 0
================================================================================
CPU related data:
model name    : Intel Atom(R) x6425E Processor @ 2.00GHz
cpu cores    : 4
stepping    : 1
cache size    : 4096 KB
================================================================================
RAM related data:
Maximum Capacity: 16 GB
Maximum Voltage: 1.2 V
Size: 8 GB
Non-Volatile Size: None
Volatile Size: 8 GB
Cache Size: None
Logical Size: None
Size: No Module Installed
================================================================================
GPU related data:
product: Elkhart Lake [UHD Graphics Gen11 32EU]
configuration: depth=32 driver=i915 latency=0 mode=1920x1200 resolution=1920,1200 visual=truecolor xres=1920 yres=1200
================================================================================
Parallel port related data:
number of parallel ports is 0
================================================================================
Os and desktop related data:
PRETTY_NAME="Debian GNU/Linux 12 (bookworm)"

Should the info below not match with your machine,
kindly post the output of pstree here, including a brief
desciption of your desktop environment, window manager and
display manager. Tia
https://forum.linuxcnc.org/18-computer/39370-script-for-automated-testing-of-computer-latency

Desktop environment : lightdm
Windowmanager       : Xfwm4
Displaymanager      : lightdm
================================================================================
Kernel related data:
Kernel 6.1.0-35-rt-amd64
GRUB_CMDLINE_LINUX_DEFAULT="quiet intel_idle.max_cstate=0 idle=poll isolcpus=3 nohz_full=3 rcu_nocbs=3 i915.enable_rc6=0"
Cpu idle driver: none
================================================================================
Kernel modules data:
Check if pcspkr is loaded: No, which is good!
Check if snd modules are loaded: No, which is good!
================================================================================
Keyboard & Mouse related data:
Number of mice: 1
Mouse 0 : Logitech Trackball
Mice  attached to USB:
Keyboards attached to USB:
Logitech, Inc. Keyboard K120
================================================================================
LinuxCNC related data:
LinuxCNC version is: 2.9.4
================================================================================
Preparing for latency test:
Started glxgears No. 1, 2, 3, 4, 5
..........
Started firefox with 'https://vimeo.com/150574260', WID
================================================================================
Command for latency test is:
su johan -c  "latency-histogram --nobase  --sbinsize 1000 --nox 2>&1 | tee -a 1748417872.lat &"

Latency testing loop started Wed May 28 09:38:08 AM CEST 2025,
should end after Wed May 28 11:38:08 AM CEST 2025

Manual termination requested at 28.05.2025 09:54:18

================================================================================
Swap useage: prerun: 0, running: 0

================================================================================
CPU core temperatures:
Core 0: Tmin: 53.0°C, Tmax: 61.0°C, (high = +105.0°C, crit = +105.0°C)
Core 1: Tmin: 53.0°C, Tmax: 61.0°C, (high = +105.0°C, crit = +105.0°C)
Core 2: Tmin: 52.0°C, Tmax: 61.0°C, (high = +105.0°C, crit = +105.0°C)
Core 3: Tmin: 52.0°C, Tmax: 61.0°C, (high = +105.0°C, crit = +105.0°C)
================================================================================
last latency data is as follows:.

The final output of the latency test:

^C
Stand by and let me stop gracefully...
 

Manual termination requested at 28.05.2025 09:54:18
  970 s  servo min:-409.600 us max: 404.900 us sdev:  15.700 us
  971 s  servo min:-409.600 us max: 404.900 us sdev:  15.700 us
Core 0:        +59.0°C  (high = +105.0°C, crit = +105.0°C)
Core 1:        +59.0°C  (high = +105.0°C, crit = +105.0°C)
Core 2:        +59.0°C  (high = +105.0°C, crit = +105.0°C)
Core 3:        +59.0°C  (high = +105.0°C, crit = +105.0°C)
Cleaning up
terminated latency-test ...
...........
Closing browser firefox with WID of
There are no windows in the stack
Invalid window '%1'
Usage: windowactivate [options] [window=%1]
--sync    - only exit once the window is active (is visible + active)
If no window is given, %1 is used. See WINDOW STACK in xdotool(1)
Done.
..........
================================================================================
Swap useage: prerun: 0, running: 0

================================================================================
CPU core temperatures:
Core 0: Tmin: 53.0°C, Tmax: 61.0°C, (high = +105.0°C, crit = +105.0°C)
Core 1: Tmin: 53.0°C, Tmax: 61.0°C, (high = +105.0°C, crit = +105.0°C)
Core 2: Tmin: 52.0°C, Tmax: 61.0°C, (high = +105.0°C, crit = +105.0°C)
Core 3: Tmin: 52.0°C, Tmax: 61.0°C, (high = +105.0°C, crit = +105.0°C)
================================================================================
last latency data is as follows:.

Hardware info is logged here: 1748417872.hw.
Full latency-test data is logged here: 1748417872.lat.


Kindly place the contents of "1748417872.hw" here:
https://forum.linuxcnc.org/18-computer/39371-results-of-latency-test-list-of-computers-tested-for-use-with-linuxcnc

Thanks, and good bye.

Hakan
Hakan

Yesterday 07:45

Replied by Hakan on topic Modbus via Ethercat (Beckhoff)

Modbus via Ethercat (Beckhoff)

Category: EtherCAT

It was mentioned an existing vfd, but to go pure ethercat an ethercat vfd is the way.
It got me to check the manual and yes it is RS-485 Modbus RTU.

Aciera

Yesterday 06:48 - Yesterday 06:49

Replied by Aciera on topic woodpecker.ini - cant be loaded

woodpecker.ini - cant be loaded

Category: General LinuxCNC Questions

I don't think anybody actively maintains the 'woodpecker' ui. It doesn't run on my 2.9.4 rip install either, fails with a different error.
I wish we wouldn't drag all these broken things along. A while ago I suggested to remove all the broken sim configs but I was not successful.

zz912

Yesterday 06:23

woodpecker.ini - cant be loaded was created by zz912

woodpecker.ini - cant be loaded

Category: General LinuxCNC Questions

Hello,

I have RIP installation LCNC 2.10

I cannot woodpecker.ini in sim configs.

Is it bug or dont I have some packages?

zdenek@cnc:~/linuxcnc/linuxcnc-zz912$ linuxcnc
LINUXCNC - 2.10.0~pre0
Machine configuration directory is '/home/zdenek/linuxcnc/linuxcnc-zz912/configs/sim/woodpecker'
Machine configuration file is 'woodpecker.ini'
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./core_sim.hal
Found file(lib): /home/zdenek/linuxcnc/linuxcnc-zz912/lib/hallib/simulated_home.hal
[QTvcp.QTVCP.QT_MAKEGUI][CRITICAL]  'MachineLog' object has no attribute 'setFrameShape' (qt_makegui.py:213)
[QTvcp][CRITICAL]  Aborted from Error Dialog
 Qtvcp encountered an error.  The following information may be useful in troubleshooting:
LinuxCNC Version  : 2.10.0~pre0

Traceback (most recent call last):
  File "/home/zdenek/linuxcnc/linuxcnc-zz912/bin/qtvcp", line 607, in <module>
    _qtvcp = QTVCP()
             ^^^^^^^
  File "/home/zdenek/linuxcnc/linuxcnc-zz912/bin/qtvcp", line 307, in __init__
    window.instance(filename=self.PATH.XML)
  File "/home/zdenek/linuxcnc/linuxcnc-zz912/lib/python/qtvcp/qt_makegui.py", line 202, in instance
    instance = uic.loadUi(filename, self)
               ^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/PyQt5/uic/__init__.py", line 241, in loadUi
    return DynamicUILoader(package).loadUi(uifile, baseinstance, resource_suffix)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/PyQt5/uic/Loader/loader.py", line 66, in loadUi
    return self.parse(filename, resource_suffix)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 1037, in parse
    actor(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 828, in createUserInterface
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 273, in createWidget
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 503, in createLayout
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 546, in handleItem
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 503, in createLayout
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 546, in handleItem
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 273, in createWidget
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 503, in createLayout
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 546, in handleItem
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 273, in createWidget
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 503, in createLayout
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 546, in handleItem
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 273, in createWidget
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 273, in createWidget
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 503, in createLayout
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 546, in handleItem
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 503, in createLayout
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 546, in handleItem
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 503, in createLayout
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 546, in handleItem
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 273, in createWidget
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 503, in createLayout
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 546, in handleItem
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 273, in createWidget
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 503, in createLayout
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 546, in handleItem
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 273, in createWidget
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 273, in createWidget
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 503, in createLayout
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 546, in handleItem
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 273, in createWidget
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 273, in createWidget
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 503, in createLayout
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 546, in handleItem
    self.traverseWidgetTree(elem)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 806, in traverseWidgetTree
    handler(self, child)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 264, in createWidget
    self.stack.push(self.setupObject(widget_class, parent, elem))
                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/PyQt5/uic/uiparser.py", line 230, in setupObject
    self.wprops.setProperties(obj, branch)
  File "/usr/lib/python3/dist-packages/PyQt5/uic/properties.py", line 417, in setProperties
    getattr(widget, 'set%s%s' % (ascii_upper(prop_name[0]), prop_name[1:]))(prop_value)
    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
AttributeError: 'MachineLog' object has no attribute 'setFrameShape'

 (qtvcp:557)
'QTVCP' object has no attribute 'panel'
/home/zdenek/linuxcnc/linuxcnc-zz912/scripts/linuxcnc: řádek 990: 14734 Neoprávněný přístup do paměti (SIGSEGV)                     $EMCDISPLAY -ini "$INIFILE" $EMCDISPLAYARGS "${EXTRA_ARGS[@]}"
Shutting down and cleaning up LinuxCNC...
task: 0 cycles, min=0.000005, max=0.010430, avg=-1.000000, 0 latency excursions (> 10x expected cycle time of 0.010000s)
Note: Using POSIX realtime
LinuxCNC terminated with an error.  You can find more information in the log:
    /home/zdenek/linuxcnc_debug.txt
and
    /home/zdenek/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal

Aciera

Yesterday 05:28

Replied by Aciera on topic Loading different configurations during startup.

Loading different configurations during startup.

Category: Basic Configuration

To load a config you basically execute a command line command. So you could have different Icons on your desktop for all the different setups.
The mesa board does not need to be reprogrammed as you can change things around in HAL.
I have machines with several different configurations (eg vertical milling, horizontal milling, turning, milling with slanted spindle).

juliankoenig87
juliankoenig87

Yesterday 05:04

Replied by juliankoenig87 on topic Getting Setup with PC and MESA

Getting Setup with PC and MESA

Category: Computers and Hardware

Thinkcentre tinys (m73, m93, m710q ....) working great. They have Intel nics.
But also Fujitsu Esprimos working great with Realtek nics. To be honest we encounters over the past year, that realtek working a lot faster. Also pci realtek boards working damn good.
But yes, historically there were problems with realtek nics, so one can have problems. But I personally looking nowadays for realtek instead of intel, but I know what I have to look for.

For a beginner I would say a Lenovo Thinkcentre tiny (maybe with wlan on board) is a really good machie. Look for m73 or m93 with 8GB and ssd and you will be happy. Isolcpus needed! and of course the lines for the intel nic. Other than that no need for tweaking when speaking of 1kHz thread.

rodw

28 May 2025 02:26 - 28 May 2025 02:26

Replied by rodw on topic Changing MPG step rate with a switch

Changing MPG step rate with a switch

Category: HAL

There is actually a good MPG example in the docs with xyz axis and scale selection. It uses parallel port pins but it works on any platform.

rodw

28 May 2025 02:21

Replied by rodw on topic Modbus via Ethercat (Beckhoff)

Modbus via Ethercat (Beckhoff)

Category: EtherCAT

Why not use an Ethercat VFD like the Omron MX2 which is supported in the hal driver. I believe internally its a cia402 device since it's essentially a speed control for a motor just like a servo!