Omron MX2

Hi everyone.
Has anyone been able to configure the Omron MX2 VFD for EtherCAT?
I was able to do it in TwinCAT 3, where everything is working fine.
However, I'm having trouble connecting the PDO variables in LinuxCNC.
The values are being sent through sdoRaw, but I've tried with and without dfcon and it still doesn't work.

target velocity / actual velocity should be Bitlen 16 (2 Bytes) you did set 32 bit.

Control word , should be S32 for haltype.

I already tried switching from 32-bit to 16-bit, but it didn't help. With controlword in float, everything is fine - I always do it that way and it works. There's no need to use a converter in *.hal. I'm tracking the connection via statusword.

maybe i missunderstood the problem.

please descripe your actual errors in detail.
Does the slaves reaches op state?

"Does the slaves reaches op state?"
No.
UPD
Everything worked.
With 16 bits and no Dfconf - everything works.
Last time I just tried to do it separately)

Now the question is about the control system of this drive.
I want to try and set it up so it works like any other servo. By vector control. (Target position).
I can control this drive only by velocity (there is also a frequency, but this is not my case).
The position I can read with another device (For example EL5151)
By register Actual velocity. I can get the velocity by driving but I'm not sure if it's correct and how it is calculated in terms of physics in the drive itself.
I have the ability to read the velocity and position by EL5151.
Can linuxcnc give me the velocity according to the diagram.
Now I use   " joint.0.vel-cmd => lcec.0.0.TargetVelocity " 
Has anyone solved this task?
 

is this for anxis or spindle control?

if for axis , just handle this drive as any other velocity controlled drive.

Axis
The question here is whether the drive works out the desired position, whether it is necessary to receive signals from the encoder and how linuxcnc will calculate this.

this is the same case as using analog 0-10V Drive with velocity control.

Lcnc Axis -> pos_cmd -> pid -> velocity_cmd -> drive

Encoder Position Feedback -> Lcnc Axis


Important is the correct PID scaling to machine units.

Hello @TheRoslyak,

May I ask you to share the xml and hal file for the omron MX2 VFD? I have this and will help a lot to have the configs.

Thanks!