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Hey there Roslyak,

I'm having problems getting CSP mode working on the same drive too. Did you end up having any success with your configuration?

From what I can see, the control word PDO is not being passed properly and it never enables the voltage (control word = 1, I believe) and the motor does not spin, even though I hear its capacitors buzzing. In the HAL config I see the control mode pin becoming 0x0000000F, which doesn't seem correct, yet it does become 0x00000002 when I stop the (unsuccessful) movement, so quick stop works. Otherwise the drive enters OP mode properly.

The encoder feedback is also 0 at all times, but I'm wondering if that matters at all, considering not even the control word is in working order.

Would you mind sharing your XML so I can see if I've even got mine set up properly? From what I can gather, the PDOs of the DELTA drive change depending on what mode the EC master puts it in, so that is a bit confusing for me.

I considered ordering the EMC-MC01 card too, but my encoder is a sin/cos incremental one. Looking at its PG pin documentation, I am having doubts if I will be able to even connect my encoder to it, as the card only has 4 active pins (my encoder has 9+).

The PG card I have right now is the EMC-PG01H, which should work for sin/cos encoders, yet I'm not sure if it supports CiA402 communication.

I seem to have no good option - either a PG card that supports my encoder, but doesn't support CiA402, or a PG card that supports CiA402, but doesn't support my encoder...

EDIT: Do you mind also sharing the exact Tamagawa encoder you have? I have little experience with them so it would be great to know if I can figure out if an adapter of sorts that could solve my issue exists.

This is what the config looks like right now:Same for all axes. The machine units is mm. Except the vertical MAX_VELOCITY is 40.0, because I would need to reduce the servo pulses per revolution in case I want to go higher (currently limited by step timings).

FERROR and MIN_FERROR are just the defaults from PnCconf (I think). Based on the current tuning, I might reduce them by an order of magnitude. Provided they work how I think they do. I need to look into that at some point.

fantastic.

There is still a possibility of implementation, so I would like to adapt it to LinuxCNC as much as possible.

I am not sure if it makes practical sense to process data multiple times, which loses measurement accuracy and introduces additional errors at each stage C/f -> U -> f ...

i can made frequency output directly in sensor.

I see that the THCAD5 card processes voltage to frequencies in the range of 100 kHz - 1 MHz, but I can adapt to any frequency (lower frexuancy could be directly monitored in many "less efficient" controllers and send via cable easyer ), it can also be a PWM output or serial communication, which I can send a ready-to-use height without the need for the CNC system to process the signal, which in my opinion would be the best option.

In your opinion, what would be the best option?

Hi Petmakris!

I'm starting a linuxCNC conversion on a MH500W2 with a faulty Philips 432/9. Planning to use all your hard work in order to get it up and running again. I'll be using a Rpi5 and a 7I97T and three EXEs.

My first step has been to wire the mill to the 7I97T, but i have a question about the "Limit"s. In the MAHO documentation the limit switches seems to be connected in series 204-207,
 
 

did you rewire these or simply used 205,206,207 as limit X,Y,Z?

 

Regards,
Hampus