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
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