calssicladder and ethercat

######  float var management -- fake drive axis y  ###################################### #simple-tp.0.target-pos float in #target position to plan for.                          # #simple-tp.0.maxvel float in #Maximum velocity                                          # #simple-tp.0.maxaccel float in  #Acceleration rate                                      # #simple-tp.0.enable bit in #If disabled, planner sets velocity to zero immediately.     # #simple-tp.0.current-pos float out #position commanded at this point in time.           # #simple-tp.0.current-vel float out #velocity commanded at this moment in time.          # #simple-tp.0.active bit out #if active is true, the planner is requesting movement.     # ######################################################################################### setp simple-tp.0.maxaccel 200 setp simple-tp.0.maxvel 60 ######################################## ######  halui ladder management ######## ######################################## net mdi0 classicladder.0.out-249 => halui.mdi-command-00                    #MDI - command for vince ZERO Yes an other axis but MDI cmd for these is enought net mdi1 classicladder.0.out-248 => halui.mdi-command-01                    #MDI - command for traslo ZERO net mdi2 classicladder.0.out-247 => halui.mdi-command-02                    #MDI - command for traslo MAX net mdi3 classicladder.0.out-246 => halui.mdi-command-03                    #MDI - command soubroutine for vince net mdi4 classicladder.0.out-245 => halui.mdi-command-04                    #MDI - command soubroutine for traslo net remote_mdi0 => classicladder.0.in-229 net remote_mdi1 => classicladder.0.in-228 net remote_mdi2 => classicladder.0.in-227 net remote_mdi3 => classicladder.0.in-226 net remote_mdi4 => classicladder.0.in-225 net traslo_down  => classicladder.0.in-223   #these is pyvcp button net traslo_up    => classicladder.0.in-224   #these is pyvcp button net traslo_cmd   => classicladder.0.in-222   #these is pyvcp button net traslo-vel-0 classicladder.0.s32out-00 => convVEL1.in net traslo-pos-0 classicladder.0.s32out-01 => convVEL2.in net traslo-vel-1 convVEL1.out => halui.axis.jog-speed #simple-tp.0.current-vel #halui.axis.jog-speed net traslo-pos-1 convVEL2.out => simple-tp.0.target-pos net traslo_cmd_1 classicladder.0.out-222 => simple-tp.0.enable mux2.0.sel  #simple-tp.0.active net Yaxe_fb  joint.1.motor-pos-fb <= lcec.0.1.posActual => trasloPOSup.in1 trasloPOSdown.in1 net Yaxe_cmd-0 joint.1.motor-pos-cmd => mux2.0.in0 net Yaxe_cmd-1 simple-tp.0.current-pos => mux2.0.in1 net Yaxe_cmd-2 mux2.0.out => lcec.0.1.posCommand

########################################################### # # CIA 402 example snippet Hal # ########################################################### ########################################################### # Setup ########################################################### loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadusr -W lcec_conf ethercat-conf.xml loadrt lcec loadrt cia402 count=3 loadrt pid names=x-pid,y-pid,z-pid ########################################################### # Functions servo-thread ########################################################### addf lcec.read-all servo-thread addf cia402.0.read-all servo-thread addf cia402.1.read-all servo-thread addf cia402.2.read-all servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf x-pid.do-pid-calcs servo-thread addf y-pid.do-pid-calcs servo-thread addf z-pid.do-pid-calcs servo-thread addf cia402.0.write-all servo-thread addf cia402.1.write-all servo-thread addf cia402.2.write-all servo-thread addf lcec.write-all servo-thread ######################################### #nets ######################################### net emc-enable => iocontrol.0.emc-enable-in sets emc-enable 1 #config setp cia402.0.csp-mode 1 setp cia402.0.pos-scale 3600 #from servo(ethercat) to cia402 net x-statusword      lcec.0.0.cia-statusword => cia402.0.statusword net x-opmode-display  lcec.0.0.opmode-display => cia402.0.opmode-display net x-drv-act-pos     lcec.0.0.actual-position => cia402.0.drv-actual-position net x-drv-act-velo    lcec.0.0.actual-velocity => cia402.0.drv-actual-velocity #from cia402 to servo(ethercat) net x-controlword         cia402.0.controlword => lcec.0.0.cia-controlword net x-modes-of-operation  cia402.0.opmode => lcec.0.0.opmode net x-drv-target-pos      cia402.0.drv-target-position => lcec.0.0.target-position net x-drv-target-velo     cia402.0.drv-target-velocity => lcec.0.0.target-velocity #from motion to cia net x-enable    <= joint.0.amp-enable-out => cia402.0.enable net x-amp-fault => joint.0.amp-fault-in   <= cia402.0.drv-fault net x-pos-cmd   <= joint.0.motor-pos-cmd  => cia402.0.pos-cmd net x-pos-fb    => joint.0.motor-pos-fb   <= cia402.0.pos-fb #homing net x-home-index <= joint.0.index-enable  => cia402.0.home

how can switch from cia402.0.drv-target-position to simple-tp.0.target-pos?? with mux2 comp is ok? Plus At these point homing can bring from EL1008 input pin or not? Not understand but seems need to use index from encoder? Is right?

<masters> <master idx="0" appTimePeriod="2000000" refClockSyncCycles="1">   <slave idx="0" type="generic" vid="000007DD" pid="01" configPdos="true">     <sdoConfig idx="6060" subIdx="0"><sdoDataRaw data="08"/></sdoConfig>     <sdoConfig idx="60C2" subIdx="1"><sdoDataRaw data="01"/></sdoConfig>     <sdoConfig idx="60C2" subIdx="2"><sdoDataRaw data="FD"/></sdoConfig>     <sdoConfig idx="607E" subIdx="0"><sdoDataRaw data="E0"/></sdoConfig>     <syncManager idx="0" dir="out"></syncManager>     <syncManager idx="1" dir="in"></syncManager>     <syncManager idx="2" dir="out">       <pdo idx="1601">         <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="driverControl" halType="bit"/>         <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="posCommand" halType="float" scale="71750"/>       </pdo>     </syncManager>     <syncManager idx="3" dir="in">       <pdo idx="1A01">         <pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="errorStat" halType="bit"/>         <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="driverStatus" halType="bit"/>         <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="posActual" halType="float" scale="0.000013937"/>         <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="velActual" halType="float" scale="0.000013937"/>         <pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="torkStat" halType="float" scale="0.1"/>       </pdo>     </syncManager>     <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="500000"/>     <slave idx="1" type="generic" vid="000007DD" pid="01" configPdos="true">       <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>       <syncManager idx="2" dir="out">         <pdo idx="1601">           <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>           <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>           <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>           <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>         </pdo>       </syncManager>       <syncManager idx="3" dir="in">         <pdo idx="1a01">           <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>           <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>           <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>           <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>           <pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>         </pdo>       </syncManager>     </slave>

loadusr -W lcec_conf /home/linuxcnc/configs/axis.cld/gc_plc_ax.xml