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Hi,
I´ve got a lathe with a DC Spindle drive that has an extra servo driver for milling operations. So the spindel would work as servo driven axis, let´s call it C-Axis. Simoreg 6RA26.
I´m not at that part yet, but i´d like to know before i start working on it, what´s best practice to implement that.
I´d like to have the spindel working as spindle with +-10V for RPM as a normal lathe and in milling mode it should switch to the servo driver, that works with +-10V too. I think i have a closed loop there too. Should i wire them up as if i had one physical spindle and one physical servo ?
So is Linux capable of switching mid program between the two modes ? is that a normal setup ?

Do you mean the hal_inertia_factor parameter?
Sorry, but I can't find this parameter (neither in halshow nor in the source code).

"Also, the program execution time should be faster."
Are you suggesting lowering this value: SERVO_PERIOD = 1000000,
or this one:
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
I performed the above-mentioned tests with these settings.
 

When I was testing this signal input, I found that when I turned on LED0, the corresponding IO PIN was lit up at pin number 16. Similarly, the output position was also the same. In summary, the data I currently receive has been shifted by 16 bits. Additionally, I have attached my XML and the test results from Beckhoff (they are all OK). Could someone kind-hearted please tell me why?



Changed to a different model of the product. This model does not fit the IGHmaster.

I guess ChatGPT looked at this thread to come to that answer.
I read more than half of this thread yesterday. Some 8 pages or so in there are many working configurations, and people with success.

@John,

Maybe that's the case, but this is solvable.

I am writing some new code. We are free to change the state machine transitions for Lichuan.
Here you can see how to set states. In fact it's just a matter off setting a combination off bits in a sequence.

Currently i am waiting for a new servo drive, so my code is halted. I dont have a Lichuan here, so i can not write code for it
to solve any problems.
 

Told you, was just to sit back and wait
That milling machine looks and sounds great.

Can you share the ecat-conf.xml file you ended up with? Can help the next guy out.

And don't forget that "ethercat for dummies" post, greatly needed.

Thanks. When I use the naming in the linked config instead of the naming from docu it works!
I can see dir and step signals now on the correct pins.
One last problem before I can test with the machine. I use an enable signal for the stepper driver. I see it on the pin, but inverted. Is there a possibility to invert output pins at raspberry pi 5 or should I better do it in hardware?

It is a RPI. 
When I run the yzEllipse75.ngc, the machine encounters an error related to IMG_6867.JPG, IMG_6868.JPG, and IMG_6869.JPG.