initCmds examples?

Kieran
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1 year 2 months ago #333455 by Kieran

initCmds examples? was created by Kieran

Does anyone have examples of initCmds or sdoconfig? i want to try sending my drives SDOs to set some parameters but am struggling to figure out how exactly to create a proper XML to call using initCmds, or alternatively how to format/add some lines with sdoConfig in my main XML. the whole index/ sub index thing also confuses me (like how does one know what syncmanager idx it should be Ect...) . If anyone has a dummys guide to how all the ethercat address stuff works LMK. It seems linuxcnc uses its own special formatting compared to "normal" ethercat XML? anyway, I want to try setting my servos to absolute mode (i have batteries on the encoders) through the SDO.

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Hakan
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1 year 2 months ago #333456 by Hakan

Replied by Hakan on topic initCmds examples?

Follow the last line here github.com/linuxcnc-ethercat/linuxcnc-et...uration-reference.md
Example of sdoconfig

Code:

    <slave idx="0" name="X" type="generic" vid="00000a88" pid="0a880002" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="a0 0f"/></sdoConfig>  <!-- Max motor current (3.0A=b80b 4.0=a00f 5.0=8813) Rated=4.0A -->
      <sdoConfig idx="2003" subIdx="0"><sdoDataRaw data ="64 00"/></sdoConfig>  <!-- Standby current percentage (100%) -->
      <sdoConfig idx="2011" subIdx="0"><sdoDataRaw data ="01 00"/></sdoConfig>  <!-- Closed loop -->
      <sdoConfig idx="2023" subIdx="1"><sdoDataRaw data ="a0 0f"/></sdoConfig>  <!-- Kp=4000 (def=2000) -->
      <syncManager idx="2" dir="out">

 

What's tricky is the byte order of the data. LSB first, so "1" becomes "01 00" and so on.

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