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Moved PDOs to SDOs, made an example config

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This commit is contained in:
Hakan Bastedt
2025-08-17 20:01:12 +02:00
parent 90a2d4dd32
commit dac61fbba5
11 changed files with 1146 additions and 1197 deletions
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36
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/linuxcnc/configs/sim.axis/e3000.hal Normal file
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loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
###########################################################
# Functions servo-thread
###########################################################
addf lcec.read-all servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf lcec.write-all servo-thread
#########################################
#nets
#########################################
net emc-enable => iocontrol.0.emc-enable-in
sets emc-enable 1
net x-enable joint.0.amp-enable-out lcec.0.E3000.enable1-0
net x-pos-cmd joint.0.motor-pos-cmd lcec.0.E3000.commandedPosition1
net x-pos-fb joint.0.motor-pos-fb lcec.0.E3000.actualPosition1
net y-enable joint.1.amp-enable-out lcec.0.E3000.enable2-0
net y-pos-cmd joint.1.motor-pos-cmd lcec.0.E3000.commandedPosition2
net y-pos-fb joint.1.motor-pos-fb lcec.0.E3000.actualPosition2
net z-enable joint.2.amp-enable-out lcec.0.E3000.enable3-0
net z-pos-cmd joint.2.motor-pos-cmd lcec.0.E3000.commandedPosition3
net z-pos-fb joint.2.motor-pos-fb lcec.0.E3000.actualPosition3