linuxcnc-ethercat

Inovance IS620N and SV660 Servo Drives

The inovance driver supports Inovance’s IS620N and SV660 single-axis EtherCAT servo drives.

Setup

In your XML file, you should have an entry somewhat like this:

<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1">
    <slave idx="0" type="IS620N" name="x"/>
    <slave idx="1" type="IS620N" name="y"/>
    <slave idx="2" type="IS620N" name="z"/>
  </master>
</masters>

See the CiA 402 documentation for additional details about how to configure CiA 402 devices in LinuxCNC. At a minimum, you will need to include the cia402 HAL component.

Devices

IS620N 1-axis EtherCAT servo drive, product code 0x000c0108.
SV660 1-axis EtherCAT servo drive, product code 0x000c010d. Sold as SV660N in the EtherCAT variant. Supports EoE in addition to CoE.

Both are tested on hardware. IS620N: 3 drives on one bus, all reaching OP and running a mill in CSP under load. SV660: one drive reaching OP and turning 30 revolutions each way in CSP at 60 rpm, returning to the start position. Both report 0x3ad in 0x6502 (pp, pv, tq, hm, csp, csv, cst) and share one parameter architecture.

I had no ESI file for either drive, so everything here was read off the bus.

Caveats

These drives only assign one PDO per direction: 0x1600 for RxPDO and 0x1A00 for TxPDO. 0x1C13:01 takes either 0x1A00 (variable) or one of the fixed maps 0x1B01..0x1B04. There is no 0x1A01; writing it is an SDO error and the slave stays out of OP.
Both 0x1600 and 0x1A00 hold 10 entries at most, which is what rxpdolimit and txpdolimit are set to. Neither drive answers SDO information requests (Enable SDO Info: no in ethercat slaves -v), so ethercat sdos returns nothing and the object description is not readable; reading a sub-index above the current entry count aborts with 0x06090011 as well, so the count in :00 is all a read gives you. The limit was measured instead: with :00 set to 0, sub-indices 0x01 through 0x0A accept a mapping, and 0x0B aborts with 0x06090011 (“subindex does not exist”). Same on IS620N and SV660.
Match the whole product code. Inovance uses vendor ID 0x00100000 across drive families, and the IS620N and SV660 codes differ in the last byte only.
DC is on by default (assignActivate 0x300, SYNC0 at the application cycle time). The reference clock lives on the first DC-capable slave in the chain, so if some other DC-capable device sits ahead of the drives, it needs DC configured too or the clocks never settle.

Configuration

There are no Inovance-specific <modParam> options; the standard cia402 modParams apply. The driver turns on opmode selection, CSP, CSV, CST, target torque, actual torque and actual following error.

Use <dcConf> on the slave to override the distributed-clock defaults.

Vendor parameters (“H codes” in the Inovance manuals) are readable and writable over CoE, and can be set at startup with <sdoConfig>: Hgg-pp is index 0x2000 + 0xgg, subindex 0xpp + 1. H02-01 is 0x2002:02.

Pins

The driver exports the standard cia402 pin set, prefixed with lcec.<master>.<slave-name>.srv-. See the CiA 402 documentation for the list.

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