The lcec_deasda driver supports Delta Automation ASDA-Ax-E series drives.
It currently supports 2 basic families of devices:
Note that to support the legacy driver, DeASDA at CSV mode is the default setting of the driver.
See the source code or device documentation for precise details on which hardware is currently supported. We aim to provide support for both CSV (cyclic synchronous velocity) and CSP (cyclic synchronous position) modes.
The servo setup is fairly basic. To configure them, add a line
like this to your ethercat.xml file:
<slave idx="1" type="DeASDA" name="x-axis"/>
type: specifies which device this is: A2 (type=”DeASDA”), A3 (type=”DeASDA3”), B3 (type=”DeASDB3”)
name: whatever you want to call this ethercat slave, e.g. “x-axis”
Example for A3 series:
<slave idx="1" type="DeASDA3" name="A3"/>
To ensure that a change in operational mode does not occur during the linuxcnc runtime, mode setting is done using modParam in the configuration file. This setting is optional. The default mode is CSV (Cyclic Synchronous Velocity).
<slave idx="1" type="DeASDA" name="x-axis">
<modParam name="opmode" value="CSV"/>
</slave>
There is 1 <modParam> setting:
opmode: controls the operational mode based on Object 6060h: Modes of operation.
Supported modes are:
CSV: Cyclic Synchronous Velocity mode (Value for 0x6060: 9) DEFAULT when modParam not used.CSP: Cyclic Synchronous Position mode (Value for 0x6060: 8)All of these settings are case insensitive.
The standard motors that come with either series of drives differ slightly. A2 drives will have a default encoder resolution of 1,280,000, whereas A3 and B3 series (henceforth X3) motors have a resolution of 16,777,216. Note that X3 drives support both x2 and x3 series motors. The default value in this deasda driver is that of ASDA A2 series motors.
To set the encoder resolution use hal pin: %s.%s.%s.srv-pulses-per-rev (also know as pprev). Example for A3:
lcec.0.A3.srv-pulses-per-rev 16777216
To set the correct scaling to account for ball screw pitch or gear reduction use hal pin: %s.%s.%s.pos-scale
For example: Using an A3 servo with 24 bit (16,777,216 count) encoder, directly coupled to a 5mm pitch ball screw:
lcec.0.A3.srv-pulses-per-rev 16777216
lcec.0.A3.pos-scale 5
A2 and A3 drives can use a second external encoder. Usually a linear encoder is used. The number of pulses of the external encoder per motor revolution can be set by hal pin %s.%s.%s.extenc-scale
The units are pulses per revolution and depend on:
Example: 5mm (=5000um) pitch ball screw. 0.5um linear scale: 5000/0.5 = 10000
lcec.0.A3.extenc-scale 10000
Another example: 16mm (=16000um) pitch ball screw, 5um linear scale: 16,000/5 = 3200
lcec.0.A3.extenc-scale 3200
TODO:
ASDA series drive follow the concept of using egear to translate between encoder pulses and external input. This setting relates the encoder's pprev with the pitch of the ballscrew and additional transmission factors of belt drives if these are in place.
For a ball screw pitch of p = 5mm, a gearing ratio of 1:1 the calculcation would be as follows:
TODO/
The following pins are exposed in both modes (CSV and CSP) and for all drives. The pin names below contain “0.A3” - this will depend on the naming in your xml file.
Encoder values (servo motor and external encoder at CN5)
Encoder Pins
u32 I/O lcec.0.A3.enc-ext-hi
u32 I/O lcec.0.A3.enc-ext-lo
bit I/O lcec.0.A3.enc-index-ena
bit OUT lcec.0.A3.enc-on-home-neg
bit OUT lcec.0.A3.enc-on-home-pos
float OUT lcec.0.A3.enc-pos
float OUT lcec.0.A3.enc-pos-abs
float OUT lcec.0.A3.enc-pos-enc
bit IN lcec.0.A3.enc-pos-reset
s32 OUT lcec.0.A3.enc-raw
u32 OUT lcec.0.A3.enc-ref-hi
u32 OUT lcec.0.A3.enc-ref-lo
u32 I/O lcec.0.A3.extenc-ext-hi
u32 I/O lcec.0.A3.extenc-ext-lo
bit I/O lcec.0.A3.extenc-index-ena
bit OUT lcec.0.A3.extenc-on-home-neg
bit OUT lcec.0.A3.extenc-on-home-pos
float OUT lcec.0.A3.extenc-pos
float OUT lcec.0.A3.extenc-pos-abs
float OUT lcec.0.A3.extenc-pos-enc
bit IN lcec.0.A3.extenc-pos-reset
s32 OUT lcec.0.A3.extenc-raw
u32 OUT lcec.0.A3.extenc-ref-hi
u32 OUT lcec.0.A3.extenc-ref-lo
Slave Status
bit OUT lcec.0.A3.slave-online
bit OUT lcec.0.A3.slave-oper
bit OUT lcec.0.A3.slave-state-init
bit OUT lcec.0.A3.slave-state-op
bit OUT lcec.0.A3.slave-state-preop
bit OUT lcec.0.A3.slave-state-safeop
Drive Status and Control
bit OUT lcec.0.A3.srv-at-speed
bit IN lcec.0.A3.srv-enable
bit IN lcec.0.A3.srv-enable-volt
bit OUT lcec.0.A3.srv-fault
bit IN lcec.0.A3.srv-fault-reset
bit IN lcec.0.A3.srv-halt
bit OUT lcec.0.A3.srv-on-disabled
bit OUT lcec.0.A3.srv-limit-active
bit OUT lcec.0.A3.srv-oper-enabled
u32 OUT lcec.0.A3.srv-operation-mode
bit IN lcec.0.A3.srv-quick-stop
bit OUT lcec.0.A3.srv-quick-stoped
bit OUT lcec.0.A3.srv-ready
bit OUT lcec.0.A3.srv-remote
bit IN lcec.0.A3.srv-switch-on
bit OUT lcec.0.A3.srv-switched-on
float OUT lcec.0.A3.srv-torque-rel
float IN lcec.0.A3.srv-vel-cmd
float OUT lcec.0.A3.srv-vel-fb
float OUT lcec.0.A3.srv-vel-fb-rpm
float OUT lcec.0.A3.srv-vel-fb-rpm-abs
float OUT lcec.0.A3.srv-vel-rpm
bit OUT lcec.0.A3.srv-volt-enabled
bit OUT lcec.0.A3.srv-warning
bit OUT lcec.0.A3.srv-zero-speed
Digital Inputs and Outputs at CN1
bit OUT lcec.0.A3.din-1
bit OUT lcec.0.A3.din-2
bit OUT lcec.0.A3.din-3
bit OUT lcec.0.A3.din-4
bit OUT lcec.0.A3.din-5
bit OUT lcec.0.A3.din-6
bit OUT lcec.0.A3.din-7
bit OUT lcec.0.A3.din-home
bit OUT lcec.0.A3.din-neg-lim
bit OUT lcec.0.A3.din-pos-lim
bit IN lcec.0.A3.dout-d01
bit IN lcec.0.A3.dout-d02
bit IN lcec.0.A3.dout-d03
bit IN lcec.0.A3.dout-d04
When the CSV mode is chosen, the driver exposes the following additional pin:
float IN lcec.0.A3.srv-vel-cmd| Connect to velocity command from either joint or PID
Note:
When the CSP mode is chosen, the driver exposes the following additional pin:
float IN lcec.0.A3.srv-pos-cmd| Connect to position command from either joint or PID
Note:
Please file an issue if you have any problems with this driver, including: