scottlaird
commented
4 months ago Okay, fixed the bug in lcec_configgen (it only recognized new slaves after it saw the device name in ethercat -v slaves, and the Rovix doesn't have a name.). I also added multi-channel support to lcec_configgen, so here's what I see:
<slave idx="22" type="basic_cia402" vid="0x00000227" pid="0x00000005" name="D23">
<modParam name="ciaChannels" value="6"/>
<modParam name="ch1enablePP" value="true"/>
<modParam name="ch1enableHM" value="true"/>
<modParam name="ch1enableCSP" value="true"/>
<modParam name="ch1enableActualFollowingError" value="true"/>
<modParam name="ch1enableFollowingErrorWindow" value="true"/>
<modParam name="ch1enableHomeAccel" value="true"/>
<modParam name="ch1enableProfileAccel" value="true"/>
<modParam name="ch1enableProfileDecel" value="true"/>
<modParam name="ch1enableProfileMaxVelocity" value="true"/>
<modParam name="ch1enableProfileVelocity" value="true"/>
<modParam name="ch1enableVelocityDemand" value="true"/>
<modParam name="ch1enableVelocitySensorSelector" value="true"/>
<modParam name="ch2enablePP" value="true"/>
<modParam name="ch2enableHM" value="true"/>
<modParam name="ch2enableCSP" value="true"/>
<modParam name="ch2enableActualFollowingError" value="true"/>
<modParam name="ch2enableFollowingErrorWindow" value="true"/>
<modParam name="ch2enableHomeAccel" value="true"/>
<modParam name="ch2enableProfileAccel" value="true"/>
<modParam name="ch2enableProfileDecel" value="true"/>
<modParam name="ch2enableProfileMaxVelocity" value="true"/>
<modParam name="ch2enableProfileVelocity" value="true"/>
<modParam name="ch2enableVelocityDemand" value="true"/>
<modParam name="ch2enableVelocitySensorSelector" value="true"/>
<modParam name="ch3enablePP" value="true"/>
<modParam name="ch3enableHM" value="true"/>
<modParam name="ch3enableCSP" value="true"/>
<modParam name="ch3enableActualFollowingError" value="true"/>
<modParam name="ch3enableFollowingErrorWindow" value="true"/>
<modParam name="ch3enableHomeAccel" value="true"/>
<modParam name="ch3enableProfileAccel" value="true"/>
<modParam name="ch3enableProfileDecel" value="true"/>
<modParam name="ch3enableProfileMaxVelocity" value="true"/>
<modParam name="ch3enableProfileVelocity" value="true"/>
<modParam name="ch3enableVelocityDemand" value="true"/>
<modParam name="ch3enableVelocitySensorSelector" value="true"/>
<modParam name="ch4enablePP" value="true"/>
<modParam name="ch4enableHM" value="true"/>
<modParam name="ch4enableCSP" value="true"/>
<modParam name="ch4enableActualFollowingError" value="true"/>
<modParam name="ch4enableFollowingErrorWindow" value="true"/>
<modParam name="ch4enableHomeAccel" value="true"/>
<modParam name="ch4enableProfileAccel" value="true"/>
<modParam name="ch4enableProfileDecel" value="true"/>
<modParam name="ch4enableProfileMaxVelocity" value="true"/>
<modParam name="ch4enableProfileVelocity" value="true"/>
<modParam name="ch4enableVelocityDemand" value="true"/>
<modParam name="ch4enableVelocitySensorSelector" value="true"/>
<modParam name="ch5enablePP" value="true"/>
<modParam name="ch5enableHM" value="true"/>
<modParam name="ch5enableCSP" value="true"/>
<modParam name="ch5enableActualFollowingError" value="true"/>
<modParam name="ch5enableFollowingErrorWindow" value="true"/>
<modParam name="ch5enableHomeAccel" value="true"/>
<modParam name="ch5enableProfileAccel" value="true"/>
<modParam name="ch5enableProfileDecel" value="true"/>
<modParam name="ch5enableProfileMaxVelocity" value="true"/>
<modParam name="ch5enableProfileVelocity" value="true"/>
<modParam name="ch5enableVelocityDemand" value="true"/>
<modParam name="ch5enableVelocitySensorSelector" value="true"/>
<modParam name="ch6enablePP" value="true"/>
<modParam name="ch6enableHM" value="true"/>
<modParam name="ch6enableCSP" value="true"/>
<modParam name="ch6enableActualFollowingError" value="true"/>
<modParam name="ch6enableFollowingErrorWindow" value="true"/>
<modParam name="ch6enableHomeAccel" value="true"/>
<modParam name="ch6enableProfileAccel" value="true"/>
<modParam name="ch6enableProfileDecel" value="true"/>
<modParam name="ch6enableProfileMaxVelocity" value="true"/>
<modParam name="ch6enableProfileVelocity" value="true"/>
<modParam name="ch6enableVelocityDemand" value="true"/>
<modParam name="ch6enableVelocitySensorSelector" value="true"/>
</slave>
Support the Rovix ESD-A6 stepper drive. This is a 6-channel, open-loop, 24V stepper drive, on loan from @DesertShedStudio.
There is no documentation for this online, and there aren't a ton of them around, but it's a simple multi-axis controller, so it's probably a good test case.
First impressions aren't great;
ethercat slavesshows it as:Running
ethercat pdos -p 22shows nothing.Running
lcec_configgenalso shows nothing, not even a generic entry. I see debugging in my near future. As a workaround,ethercat upload -p 22 0x6502 0gives 0xa1, which is (binary) 1010_0001, which means that it claims to supportpp,hm, andcspmodes. Interesting, this is the first device I've seen (out of a very small sample) that doesn't support any velocity modes.Fortunately,
ethercat sdoslooks like it works:This is from a Korean company, but the SDO descriptions are all in English, which is nice. It also looks like they're using 3D printer-ish stepper drives, which isn't surprising. Honestly, this is more of a 3D printer drive than something that you'd use on a CNC, but that's fine. Kind of interesting, actually.