Servo drive config and first movement

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2 years 10 months ago #288488 by tommylight
Replied by tommylight on topic Servo drive config and first movement
You did not mention encoder! :)
Glad you figured it out and reported back, thank you.

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2 years 10 months ago #288506 by TimP
Replied by TimP on topic Servo drive config and first movement
yeah that is true, i thought this days everything comes with encoder and it is not an option anymore 

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2 years 10 months ago #288586 by TimP
Replied by TimP on topic Servo drive config and first movement
Maybe not EtherCAT specific. but why my axis.x.pos-cmd get bigger after restart on amount of cia402.0.pos-fb.

So if axis.x.pos-cmd is 0.4 and cia402.0.pos-fb is 0.2 then after LinuxCNC restart axis.x.pos-cmd will be 0.6 and more restart you do more it add.
 

Code:
net emc-enable => iocontrol.0.emc-enable-in sets emc-enable 1 #config # # Joint 0 # setp cia402.0.csp-mode 1 setp cia402.0.pos-scale [JOINT_0]SCALE #from servo(ethercat) to cia402 net 0-statusword lcec.0.0.cia-statusword => cia402.0.statusword net 0-opmode-display lcec.0.0.opmode-display => cia402.0.opmode-display net 0-drv-act-pos lcec.0.0.actual-position => cia402.0.drv-actual-position net 0-drv-act-velo lcec.0.0.actual-velocity => cia402.0.drv-actual-velocity #from motion to cia net 0-home-index <= joint.0.index-enable => cia402.0.home net 0-enable <= joint.0.amp-enable-out => cia402.0.enable net 0-amp-fault => joint.0.amp-fault-in <= cia402.0.drv-fault net 0-pos-cmd <= joint.0.motor-pos-cmd => cia402.0.pos-cmd net 0-pos-fb => joint.0.motor-pos-fb <= cia402.0.pos-fb #net 0-home lcec.0.0.in-5 => joint.0.home-sw-in #from cia402 to servo(ethercat) net 0-controlword cia402.0.controlword => lcec.0.0.cia-controlword net 0-modes-of-operation cia402.0.opmode => lcec.0.0.opmode net 0-drv-target-pos cia402.0.drv-target-position => lcec.0.0.target-position  

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2 years 2 months ago #306611 by Sandro
Replied by Sandro on topic Servo drive config and first movement
Hi Tim

I am having the same issue. Have you figured this one out?

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