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Makin' Christmas presents... We like dice games.
Cross-posted from reddit, so I could include some media a bit more easily.
www.reddit.com/r/Machinists/comments/1ph8ig5/comment/nsx4clj/

So, I just got a Precision Matthews PM-970 (RF45 clone) up and running with a Linuxcnc based retrofit with all of the bells and whistles. This is my first project.Also, built a planetary gear polisher, since I don't want to hand-polish 6 sides of 36 dice.Not a single step of this went the way I planned, but I think the work product turned out nicely.I didn't tune the PID properly to begin with, which I think is why my final dims were ~5 thou out of spec in some parts. This cascaded down to needing to remove more material in sanding/polishing. I left the final profile cut to 0.005", but didn't do a spring pass, which I think led to some tool deflection, which caused some tilt in the second op.Anyway, for a first CNC project for a manual machinist. I'm happy.

This is my Config which should Work. 
It´s a small setup in my Shop on my Workbench. It is for tinkering with, EtherCAT & LinuxCNC.

The PC is an old Siemens Microbox PC with 3 Ethernet Ports.

I am pretty sure something can be done with some hal or tailor made component, but i never had the need for such thing.
Should be possible with encoder feedback to LinuxCNC as it will continue to monitor position even when drives are disabled, but i do not recall if it also adjusts the output position while disabled (i think not).
That also has the advantage of using the LinuxCNC as a DRO when using it manually.

Hi,

Here is my cthercAT.xml. 
When loading, I get an error saying that the pin lcec.0.A6.control-word already exists.
>EtherCAT pdos< gives me completely different addresses for the A6 400W.
0x6060 is not mapped:
It is possible that my XML has an error.
But how am I supposed to write an 8 (csp mode) to 0x6060 if it does not currently exist on the A  6 400W?

Here is the excerpt from my post again:

A6 750W
=== Master 0, Slave 0 ===
SM0: PhysAddr 0x1000, DefaultSize  256, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize  256, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize   12, ControlRegister 0x64, Enable 1
  RxPDO 0x1600 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x6060:00,  8 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x60ff:00, 32 bit, ""
    PDO entry 0x607c:00, 32 bit, ""
    PDO entry 0x6098:00,  8 bit, ""
    PDO entry 0x6099:01, 32 bit, ""
    PDO entry 0x6099:02, 32 bit, ""
    PDO entry 0x609a:00, 32 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize   28, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 ""
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6061:00,  8 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x606c:00, 32 bit, ""
    PDO entry 0x6077:00, 16 bit, ""

A6 400W
=== Master 0, Slave 1 ===
SM0: PhysAddr 0x1000, DefaultSize  256, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize  256, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize   12, ControlRegister 0x64, Enable 1
  RxPDO 0x1701 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x60b8:00, 16 bit, ""
    PDO entry 0x60fe:01, 32 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize   28, ControlRegister 0x20, Enable 1
  TxPDO 0x1b01 ""
    PDO entry 0x603f:00, 16 bit, ""
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x6077:00, 16 bit, ""
    PDO entry 0x60f4:00, 32 bit, ""
    PDO entry 0x60b9:00, 16 bit, ""
    PDO entry 0x60ba:00, 32 bit, ""
    PDO entry 0x60bc:00, 32 bit, ""
    PDO entry 0x60fd:00, 32 bit, ""

Thanks for the replies! I have considered putting independent x/y MPGs somewhere on the machine, but it doesn't quite scratch the itch I'm trying to scratch. 
My background is a manual machinist, and I wanted to add some CNC capability to my arsenal, even if that came at the cost of being able to do manual machining the way I used to. That said, there's no substitute from the feedback you get from turning the cranks, when you just need to make a quick slot, face a part, etc.
It seems like LinuxCNC (appropriately) is really intended almost exclusively for the CNC use case. 

Every slave must have its own configuration in the config xml file.
See example here. github.com/dbraun1981/hal-cia402/blob/ma...le/ethercat-conf.xml

You must enter the config for the new drive.

AkkiSan wrote:

 without my M64/M65-flipflop solution, 

 

Please publish your solution in full, including function declarations such as loadrt + everything, everything, everything. So that I can repeat it.

yes, everything is working well thanks

You get after start another lcec.1. instances with your pins.

I can provide a config later this day.

Greets sven

Hi,
can you please add your .json config.

Have you set the scale for the quad encoder correctly?

and then how will you specify the .hal file for separate masters? 

there will be more lcec. instances? 

do anybody have working config?

Yes, you add a second master in your /etc/ethercat.conf
There is already a line:

# The MASTER<X>_DEVICE variables also determine, how many masters will be
# created: A non-empty variable MASTER0_DEVICE will create one master, adding a
# non-empty variable MASTER1_DEVICE will create a second master, and so on.
#
MASTER0_DEVICE="eno0"
MASTER1_DEVICE="eno1 or mac adress" 

Then you can add a second master in your ethercat-conf.xml

<master idx="1" appTimePeriod="1000000" refClockSyncCycles="5">

And that's it.

I had testet it with 2 Nic's not long ago

It's working fine.

Greetings Sven

My PC has two Ethernet ports. I want to use port 1 to connect to devices A, B, and C, and port 2 to connect to devices D, E, and F because they are in separate locations. Is it possible to configure two EtherCAT ports?

Sorry for the late response. If our problem is same, this is what I changed in the sii file from my Inovance driver. I changed that part to ‘04’ and then wrote it back to the driver after making the change.

I did try reversing the input, Does my custom.hal file look correct? I get a joint 0 amplifier fault instantly its the only joint i am trying to figure out at the moment i haven't tried to add the other joints yet. Is there other ways of doing this that might be easier to add in my case ?

Thanks