Omron MX2

miniwini
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1 year 3 months ago #331565 by miniwini

Omron MX2 was created by miniwini

Hi all!

first of all, great work! I managed to get everything running just by reading all the great posts here! All the nice HowTo´s and so on...

But now i got stuck...

what do i have?

i´m running a RPi 5 with LinuxCNC (latest Preempt Version)
a Mesa 7i76EU (everything working)
a Pendant WHB04-6 (everything working)
and some Beckhoff EtherCat modules (everything working)
and last i got my self an EtherCat Module for the Omron MX2 (partial working)

I can´t figure out how to drive the Omron MX2, there is some mismatch in the type of the controlword
my ethercat xml has only the Modulelist, no special entries like syncmaster and so on...

the Device shows up in the HalShow under lcec, all "Pins" are viseble, ethercat slaves shows the device... so i think its just a small config problem in the xml

maybe someone out here who has it running...

Thanks for looking / helping...

Cheers Einar

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Hakan
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1 year 3 months ago #331569 by Hakan

Replied by Hakan on topic Omron MX2

If you don't get a good response here you might be better off raising an issue with
the developer at github.com/linuxcnc-ethercat/linuxcnc-ethercat
I think he got one Omron MX2 himself and that's why it is supported directly.

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miniwini
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1 year 3 months ago #331642 by miniwini

Replied by miniwini on topic Omron MX2

hey i got it working... wasnt that hard as i thought...

here my solution...

the ethercat.xml file first... thats the easy part...

Code:

<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
    <slave idx="0" name="EK1100" type="EK1100"/>
    <slave idx="1" name="EL1018_1" type="EL1018"/>
    <slave idx="2" name="EL1018_2" type="EL1018"/>
    <slave idx="3" name="EL2024_1" type="EL2024"/>
    <slave idx="4" name="EL2008_1" type="EL2008"/>
    <slave idx="5" name="EL2008_2" type="EL2008"/>
    <slave idx="6" name="EL2008_3" type="EL2008"/>
    <slave idx="7" name="3G3AX-MX2-ECT" type="OMMX2"/> 
  </master>
</masters>

with this you get all the pins into halshow

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then you need to load the main ethercat stuff before the main ui... (ethercat.hal)

Code:

# ---------------------------------
# EtherCAT and IO HAL for LinuxCNC 2.9.4
# ---------------------------------

# Load EtherCAT configuration (User-space only!)
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
addf    lcec.read-all            servo-thread
addf    lcec.write-all            servo-thread

then go to your machine halfile and add the nets and pins

Code:

#*******************
#  ETHERCAT SPINDLE - Ethercat mainstuff loaded with ini in ethercat.hal
#*******************

#Load conversions for speed and controlword
loadrt conv_float_s32 count=1
loadrt conv_float_u32 count=1
addf conv-float-s32.0 servo-thread
addf conv-float-u32.0 servo-thread
#Load mux2 for controlword
loadrt mux2 names=mux2.spindle-enable
addf    mux2.spindle-enable        servo-thread

#mux2 section
#Spindle OFF
setp mux2.spindle-enable.in0 10
#Spindle ON
setp mux2.spindle-enable.in1 15

#networking pins for start / stop

net pdnt.spindle.is-on => mux2.spindle-enable.sel
net spindel-conv conv-float-u32.0.in mux2.spindle-enable.out
net spindle-ctrl-cmd conv-float-u32.0.out => lcec.0.3G3AX-MX2-ECT.srv-cia-controlword
net pdnt.spindle.is-on <=  spindle.0.on  => mux2.spindle-enable.sel

#networking pins for speed

net spindlespeed spindle.0.speed-out conv-float-s32.0.in  
net speed_out conv-float-s32.0.out lcec.0.3G3AX-MX2-ECT.srv-target-vl
 
# ---Setup spindle at speed signals---

#sets spindle-at-speed true

this works for me

thanks again for all the done work in the past to make this so easy nowadays!

cheers miniwini

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