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Thanks! ( I haven't done it yet. )

My progress is...

I found ( in "ethercat slaves" command response ) that one servo drive version was 1.07, and anotehr was 2.09 in 3axis. But I have orderd  them recently at the same time.

Yaskawa support person said, this version is ESI version ( in servo driver ? ), but I haven't send ESI file to slaves. Their suggestion is to use the same ESI file, and send me the link of the latest ESI file for Sigma X.

How do I apply the latest ESI file to IgH Master and slaves?
I googled and ask AI how to do it, but I couldn't get the answer for IgH master.

Thanks, I will use this.
I did have to install the non-free version of unrar before I could successfully open the rar archive, unrar-free kept giving up with errors. Attached a zipped version for convenience.

Thank you.
Should we make this "sticky"?
We would appreciate feedback on this.

Looks nice, thank you.

Jugo2 wrote:

I want to use torque homing ....

Is that where the motor moves till it hits a hard stop to home?
Sorry i can not help more, but no experience with EtherCAT, yet.

Thank you.
If anyone thinks this belongs somewhere else on the forum, please do let us know.
Leaving it here for now.

There was a topic with something similar, but i can not find it (google has become useless), it was quite some time ago, but if i bump into it i will report back.

Thank you.
I would also like to build one such machine, but i have a pretty long waiting list, building a laser and a router now, want to build a small but sturdy mill, a wire EDC, a bigger styrofoam cutter, a rugbot, a normal tangential knife, ... oh well.

Thank you.
BTW, i can not check on this PC as i have no office suite installed.

Did you set the scaling properly?

You are welcomed, always, and thank you for reporting back.

Moved to "driver boards"

Moved to "driver boards"

I have my 7i96 working with a CommanderSK VFD over RS485 with hm2_modbus. (See attached)I write two registers using the init section but I haven't figured out the syntax to read registers in this section. Could anyone provide an example of reading registers during init? I'd like to only read the rated rpm, amps, etc once and I need the values in hal.I would also appreciate an example showing how to set the HAL_FLOAT scale factors. (in the .mbccs) I am currently using 

The physical PKTUART pins are assigned in the firmware source (the PIN_XXXXX.vhd file that was included in the zip file)
 (If that's what you meant)