linuxcnc-ethercat

Omron MX2 VFD Driver

The lcec_ommx2 driver supports the Omron MX2 VFD with Omron’s 3G3AX-MX2-ECT EtherCAT module.

Setup

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

<masters>
  <master idx="0" appTimePeriod="2000000" refClockSyncCycles="1000">
    ...
    <slave idx="1" type="OMMX2" name="spindle"/>
	...
  </master>
</masters>

This is the first CiA 402 VFD supported by LinuxCNC Ethercat, and higher-level support is still lacking. Instructions TBD.

See the CiA 402 documentation for additional details about how to configure CiA 402 devices in LinuxCNC.

Devices

This driver was developed with a 2.2 kW first-generation (“v1”) Omron MX2, with hardware revision V1.00 and software V1.10. It’s currently unknown if later MX2s or newer firmware will change anything critical.

Caveats

• The MX2 has a very weird PDO layout; it only allows 2 PDO entries per PDO (vs 8-12 for normal devices), but it allows up to 512 (!) RX and TX PDOs, vs 2-4 on many cheaper devices.
• On my hardware, I get gripes in dmesg about reads from 0x6046 using the wrong size. I’m not sure what’s up; I’m using 32 bit reads, CiA 402 says that should be 32 bits, ethercat sdos for the device shows that it should be 32 bits, and etherat upload -t uint32 works fine.

Configuration

TBD

Inputs

TBD

Outputs

TBD

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