Getting Ebay 2.6kw ethercat kit going.

Kieran
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1 year 4 months ago #330488 by Kieran

Getting Ebay 2.6kw ethercat kit going. was created by Kieran

Im trying to get my 2.6kw spindle servo going. its got a P200SE drive. the instructions are written in Chinese. I used google translate and it worked pretty good. Right now im running it as a Z axis just to see if i can get it working. I got my XML setup enough that Linuxcnc reads the encoder no problem. the servo powers up and holds position along with my stepperonline X and y servos. my current roadblock is that its not listening to commands and doesnt move and it gets a following error shortly after. if i power off and turn the motor the DRO moves the distance expected so that's a good sign. the servo load meter on the PYvcp is workign for this servo too, when i "fight" the servo. i must just be missing something simple in my XML?

lcec_configgen gives me this

Warning: Spoiler!

<masters>
<master idx="0">
    <slave idx="0" type="generic" vid="0x00400000" pid="0x00000715" name="D1">
      
      <syncManager idx="0" dir="in"/>
      <syncManager idx="1" dir="out"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1701">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="pin-6040-00" halType="BLANK"/>
          <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="pin-607a-00" halType="BLANK"/>
          <pdoEntry idx="60b8" subIdx="00" bitLen="16" halPin="pin-60b8-00" halType="BLANK"/>
          <pdoEntry idx="60fe" subIdx="01" bitLen="32" halPin="pin-60fe-01" halType="BLANK"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1b01">
          <pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="pin-603f-00" halType="BLANK"/>
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="pin-6041-00" halType="BLANK"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pin-6064-00" halType="BLANK"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="pin-6077-00" halType="BLANK"/>
          <pdoEntry idx="60f4" subIdx="00" bitLen="32" halPin="pin-60f4-00" halType="BLANK"/>
          <pdoEntry idx="60b9" subIdx="00" bitLen="16" halPin="pin-60b9-00" halType="BLANK"/>
          <pdoEntry idx="60ba" subIdx="00" bitLen="32" halPin="pin-60ba-00" halType="BLANK"/>
          <pdoEntry idx="60bc" subIdx="00" bitLen="32" halPin="pin-60bc-00" halType="BLANK"/>
          <pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="pin-60fd-00" halType="BLANK"/>
        </pdo>
      </syncManager>
    </slave>
    <slave idx="1" type="generic" vid="0x00400000" pid="0x00000715" name="D2">
      
      <syncManager idx="0" dir="in"/>
      <syncManager idx="1" dir="out"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1701">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="pin-6040-00" halType="BLANK"/>
          <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="pin-607a-00" halType="BLANK"/>
          <pdoEntry idx="60b8" subIdx="00" bitLen="16" halPin="pin-60b8-00" halType="BLANK"/>
          <pdoEntry idx="60fe" subIdx="01" bitLen="32" halPin="pin-60fe-01" halType="BLANK"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1b01">
          <pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="pin-603f-00" halType="BLANK"/>
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="pin-6041-00" halType="BLANK"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pin-6064-00" halType="BLANK"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="pin-6077-00" halType="BLANK"/>
          <pdoEntry idx="60f4" subIdx="00" bitLen="32" halPin="pin-60f4-00" halType="BLANK"/>
          <pdoEntry idx="60b9" subIdx="00" bitLen="16" halPin="pin-60b9-00" halType="BLANK"/>
          <pdoEntry idx="60ba" subIdx="00" bitLen="32" halPin="pin-60ba-00" halType="BLANK"/>
          <pdoEntry idx="60bc" subIdx="00" bitLen="32" halPin="pin-60bc-00" halType="BLANK"/>
          <pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="pin-60fd-00" halType="BLANK"/>
        </pdo>
      </syncManager>
    </slave>
    <slave idx="2" type="basic_cia402" vid="0x00445653" pid="0x00009252" name="D3">
      
      <modParam name="ciaRxPDOEntryLimit" value="9"/>
      <modParam name="ciaTxPDOEntryLimit" value="9"/>
      <modParam name="enablePP" value="true"/>
      <modParam name="enablePV" value="true"/>
      <modParam name="enableTQ" value="true"/>
      <modParam name="enableHM" value="true"/>
      <modParam name="enableCSP" value="true"/>
      <modParam name="enableCSV" value="true"/>
      <modParam name="enableCST" value="true"/>
      <modParam name="enableActualFollowingError" value="true"/>
      <modParam name="enableActualTorque" value="true"/>
      <modParam name="enableDigitalInput" value="true"/>
      <modParam name="digitalInChannels" value="16"/>
      <modParam name="enableDigitalOutput" value="true"/>
      <modParam name="digitalOutChannels" value="16"/>
      <modParam name="enableErrorCode" value="true"/>
      <modParam name="enableFollowingErrorWindow" value="true"/>
      <modParam name="enableHomeAccel" value="true"/>
      <modParam name="enableInterpolationTimePeriod" value="true"/>
      <modParam name="enableMaximumTorque" value="true"/>
      <modParam name="enableMotorRatedTorque" value="true"/>
      <modParam name="enablePolarity" value="true"/>
      <modParam name="enablePositionDemand" value="true"/>
      <modParam name="enablePositioningTime" value="true"/>
      <modParam name="enablePositioningWindow" value="true"/>
      <modParam name="enableProbeStatus" value="true"/>
      <modParam name="enableProfileAccel" value="true"/>
      <modParam name="enableProfileDecel" value="true"/>
      <modParam name="enableProfileMaxVelocity" value="true"/>
      <modParam name="enableProfileVelocity" value="true"/>
      <modParam name="enableTargetTorque" value="true"/>
      <modParam name="enableTorqueDemand" value="true"/>
      <modParam name="enableTorqueSlope" value="true"/>
      <modParam name="enableVelocityErrorTime" value="true"/>
      <modParam name="enableVelocityErrorWindow" value="true"/>
    </slave>
</master>
</masters>

my xml so far

Warning: Spoiler!

<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">


<slave idx="0" type="generic" vid="00400000" pid="00000715" configPdos="true" >
    <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="25000"/>
    <watchdog divider="2498" intervals="1000"/>
    <syncManager idx="2" dir="out">
    <pdo idx="1600">
    <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="control-word" 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="60B8" subIdx="00" bitLen="16" halPin="touch-probe-function" halType="u32"/>
    </pdo>
    </syncManager>
    <syncManager idx="3" dir="in">
    <pdo idx="1A00">
    <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="status-word" halType="u32"/>
    <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos-actual" halType="s32"/>
    <pdoEntry idx="60BA" subIdx="00" bitLen="32" halPin="touch-probe-1" halType="s32"/>
    <pdoEntry idx="60BC" subIdx="00" bitLen="32" halPin="touch-probe-2" halType="s32"/>
    <pdoEntry idx="60B9" subIdx="00" bitLen="16" halPin="touch-probe-status" halType="s32"/>
    <pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="fault-code" halType="s32"/>
    <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="DI-status" halType="u32"/>
    <pdoEntry idx="60F4" subIdx="00" bitLen="32" halPin="follow-error" halType="s32"/>
    <pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="actual-torque" halType="s32"/>
    </pdo>
    </syncManager>
</slave>

<slave idx="1" type="generic" vid="00400000" pid="00000715" configPdos="true" >
    <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="25000"/>
    <watchdog divider="2498" intervals="1000"/>
    <syncManager idx="2" dir="out">
    <pdo idx="1600">
    <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="control-word" 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="60B8" subIdx="00" bitLen="16" halPin="touch-probe-function" halType="u32"/>
    </pdo>
    </syncManager>
    <syncManager idx="3" dir="in">
    <pdo idx="1A00">
    <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="status-word" halType="u32"/>
    <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos-actual" halType="s32"/>
    <pdoEntry idx="60BA" subIdx="00" bitLen="32" halPin="touch-probe-1" halType="s32"/>
    <pdoEntry idx="60BC" subIdx="00" bitLen="32" halPin="touch-probe-2" halType="s32"/>
    <pdoEntry idx="60B9" subIdx="00" bitLen="16" halPin="touch-probe-status" halType="s32"/>
    <pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="fault-code" halType="s32"/>
    <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="DI-status" halType="u32"/>
    <pdoEntry idx="60F4" subIdx="00" bitLen="32" halPin="follow-error" halType="s32"/>
    <pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="actual-torque" halType="s32"/>
    </pdo>
    </syncManager>
</slave>

<slave idx="2" type="generic" vid="0x00445653" pid="0x00009252" configPdos="true" >
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="25000"/>
      <watchdog divider="2498" intervals="1000"/>
      <syncManager idx="2" dir="out">
    <pdo idx="1600">
   <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="control-word" 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="60B8" subIdx="00" bitLen="16" halPin="touch-probe-function" halType="u32"/>
    </pdo>
    </syncManager>
    <syncManager idx="3" dir="in">
    <pdo idx="1A00">
    <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="status-word" halType="u32"/>
    <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos-actual" halType="s32"/>
    <pdoEntry idx="60BA" subIdx="00" bitLen="32" halPin="touch-probe-1" halType="s32"/>
    <pdoEntry idx="60BC" subIdx="00" bitLen="32" halPin="touch-probe-2" halType="s32"/>
    <pdoEntry idx="60B9" subIdx="00" bitLen="16" halPin="touch-probe-status" halType="s32"/>
    <pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="fault-code" halType="s32"/>
    <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="DI-status" halType="u32"/>
    <pdoEntry idx="60F4" subIdx="00" bitLen="32" halPin="follow-error" halType="s32"/>
    <pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="actual-torque" halType="s32"/>
    </pdo>
    </syncManager>
</slave>

</master>
</masters>

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Kieran
Topic Author
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1 year 4 months ago #330546 by Kieran

Replied by Kieran on topic Getting Ebay 2.6kw ethercat kit going.

well I reRan lcec_configgen and got a different reading on slave IDX 2 not sure why. I was able to fart around with the XML and get the servo going. it about jumped off my bench. she's a ripper.

working XML snippet for the Ebay servo/ DVS P200SE drive.

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