Den 2022-03-04 kl. 18:24, skrev John Dammeyer:
Here's a quick summary that some may find interesting. https://www.motioncontroltips.com/what-is-the-canopen-over-ethercat-coe-protocol/
Have used CANopen both on CAN and over Ethercat. Protocol should work really well with Linuxcn though performance of course depends on the drive.
If configuration is needed SDO is used to access dictionary. Could also be used to read out information. A .eds or .dcf file for CANopen and .esi file for Ethercat to get names on the indexes and subindexes.
For periodic communication PDO messages are used, velocity or position depending on drive and/or selected modes of operation. Then using in Linuxcnc If using over CAN there is also a special sync message.
Drives usually have a builtin PID regulator. Not certain if they use to have builtin homing sequence but it is not important since there is builtin homing sequence in Linuxcnc which will work also if home switch for some reason is connected on other input than the drive.
Nicklas Karlsson _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
