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Am I understanding correctly...   Linuxcnc "talks" to Hal, Hal used XML to translate to the ethercats. so xml is like an " hardware even more abstract layer". So I should assign "X Y Z A B" names in the XML and then Hal can control the servos from then on by those names? Im assuming the ethercat slaves show up in the order they are physically plugged into the chain? or is how they are plugged together not matter much? I guess I have to dive into the "debug software" for the servos too and set up the electronic gear ratios and whatnot. 

Thx a lot!!
I will take a close look at both. Finally a first point of reference from which I can work my way forward.

Then let's keep each other up to date.

I think I can see a way to do this, as Andy explained I will take a look at this when I get a bit of free time.

Its a bit tricky because the first index detections ( used for latching the position ) will zero the position
so the latched count + encoder position must be used for feedback until the final homing to index
is done.

What I was thinking is that the detection of the desired position difference enables passing the index detection
to LinuxCNCs motion component.  

Nice welds on your control panel.
Mark

Mine are old, so just basic LS403's with a single index. Sorry for that confusion.
Mark.

Typically there is not much advantage in using encoders on step/dir systems
unless you have linear scales.

If you get following errors, I would first increase this number:

setp hm2_[MESA](BOARD).0.dpll.01.timer-us -50

to:

setp hm2_[MESA](BOARD).0.dpll.01.timer-us -200

Also check that the stepgen maxaccel values have sufficient headroom
from the joint and axis maxaccel values.

The stepgen values should be at least 25% greater than the joint/axis
values if no backlash compensation is used and at least 225% of the joint/axis
values if backlash compensation is used.

Also check

hm2_7i95.0.packet-error-total

To make sure no packets are being dropped due to network timeouts.
 

Hi Guys,

I have a converted hass mini mill running 1kw Ac servos, I am using them in Step and Direction mode. At the moment, they are not feeding back into my Mesa 7i95T.

First question is there any benefit to feeding the encoder back to the controller?
And can/should I tune the PID? im at the understanding that this is only for analogue drives?
I am getting the occasional follow error, Im set at 1 and 0.5 which is really high. and im only running at 6000mm/s 

Any advice would be great.

Tnanks 

Does the division change the point at which you get oscillations?

Did you check that the  7i77s 5V is stable?

625 counts per mm is certainly low enough ( < 100 KHz count rate at 8.3 M/min ) 

 

What division do you propose, I tried the lowest 625 per mm.

Hello got everything up and running the machine will home. I keep getting the same error and I’m not able to run a program. I am not skilled at writing G code, but hopefully this is a quick fix. Any assistance is greatly appreciated 

amazing it works thank you, just need to change it so its not a minus sign before the reading

I don't have a Mesa CT2 file created yet - I'm still hoping to find a "pure" way to create it via pnconfig in one step - without inserting lines.
I have a small lathe that I would like to use in 3 configurations - as a lathe, as a milling machine (I have a milling attachment for the lathe) and as a rotary table, when the additional spindle (which will be classically driven via an inverter) will be on the support.
my machine:
www.youtube.com/channel/UC_zOVvs96VKX6R_DIO5KyJg

There is a tutorial to get a working config for the EK1100. Maybe that is something to start with:
github.com/pklopping/linuxcnc-ethercat-b...asic_digital_outputs

For the drives there is this example config:
github.com/dbraun1981/hal-cia402

Im in the same boat. I have stepperonline A6 servos showing up as slave devices. now have no clue what to do next.