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Hello, 

First I'm sorry if this kind of question has already been asked but couldn't find the answer. 

I have some common beckhoff modules such as 1008 
They are supported by Linuxcnc Ethercat but I would like to understand how to build the config xml file. I understood the first slave part then the sync but I'm struggling with the PDO part. How to gather and understand the requested data? 

Thank you in advance 

I have a feeling you are using the "autotransformer" name wrong, that is the name for the round transformers with a big rotating knob at the top that can adjust the output voltage in a wide range.
Nothing wrong with that, but autotransformers are much more expensive and finding a 3 phase one will be a stretch. 3 of single phase ones should also do just fine.
- some ideas:
-3 of normal transformers, at least 3KW each, should be easy to find torroidal ones at any output voltage and are quite cheap. If you can choose, get the 400/110V ones, saves quite a bit on mains cabling as the current draw is smaller.
-a big used 3 phase transformer, usually with multiple input voltages 380/400/420/460/480V, at 10 to 15KW easy to find from used machines, usually not cheap at all, usually 200 to 220V outputs.
This should still be usable for 110V AC as you can wire inputs with common neutral for 3x220V and get out roughly from 100-125V depending on what input windings you use.
-
If you go for the used version, do try to find matching rectifier, at those current requirements the rectifier gets pricey.

Active offsets, maybe?

i don't have the electrical cabinet with the robot
i'd like to start with a second-hand 400 to 240V high-power three-phase autotransformer because it's “quite easy to find”. i'd like to share the phases and neutral to supply the drivers with 110V single-phase power.
i have 3xbig motor and 3xsmall motor so 1 phase for 1 big and 1 small.
after some research i managed to find some data on robot or control electrical power.
robot KR16(more recent than my robot but quite similar) = Installed motor capacity 8.8 KW
cabinet : Rated power input depending on the drive class: 7.3 -- 13.5 kVA.
I don't know which transformer power I should look for 12 KVA minimum? 400V/18.1A - 230V/31.4A

assuming that large motors will be at a maximum of 50%-60% of their maxspeed (110V instead of 180V)

KR16 powerKW
 

KRC2 power KW
 

 

oh okay, i never heard from that. Im using fusin360 to postprocess my gcode.

well, i just wrote in the MDI field G54 G0 x0 y0 z0 after the gcode what i was simulating.

EC500

so today i started a job and I got this in the preview screen when everything was zero'd and the program was running.  the program is below my z axis, and the "tool" (cone thingy) is way up above the part. the program runs, but its a little confusing. any thoughts?

thanks

new location: github.com/multigcs/riocore/blob/dev/rio...ddons/spnav/spnav.py

it's now an addon for rio, but can be used standalone,
hal-config example is in the file

Yes, this image looks much better.

As of now I did not dig deeper than display and did a short latency tests (which looks good). May be I'll try this week.
Need to adapt Byte2Bot Hat and get the Breakout board to work.

I guess a more diagnostic question would be:

Are those the commanded or actual positions?

Yeah, i wasted 20 minutes last night looking for it, but all i could find was some very short videos of it, so either my serach-foo is failing me or google has gone completely off the rails. I am rooting for the latter:)

In Europe you can get toroidal transformes for any secondary voltage, that is the easy part, the 5.4A rating is most probably the long term current the motor can withstand, peak current will be much higher so the drives are usually 20A or 30A rated, hence the power supply must be rated accordingly, in your case at a guess at least 60A transformer and rectifier. Or have 2 of the big motors on one power supply and 4 smaller on another power supply, at 30A to 40A each are easier to manage and find and might even be cheaper. You might easily make do with much less as it is a small weight, and use moderate accelerations.
Does the control box have power info on it? Should be in KW,

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