Ethercat总线 伺服主轴

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#*******************
#  AXIS spindle
#*******************


# --- joint signals for motion

net spindle-speed-cmd spindle.0.speed-out => cia402.1.velocity-cmd
net spindle-speed-fb cia402.1.velocity-fb => spindle.0.speed-in
net spindle-on spindle.0.on => cia402.1.enable

# --- ect60 settings

setp cia402.1.csp-mode 0
setp cia402.1.pos-scale 131072
setp cia402.1.velo-scale 2184.53

# --- from servo(ethercat) to cia402

net s-statusword      lcec.0.1.cia-statusword  => cia402.1.statusword
net s-opmode-display  lcec.0.1.opmode-display  => cia402.1.opmode-display
net s-drv-act-pos     lcec.0.1.actual-position => cia402.1.drv-actual-position
net s-drv-act-velo    lcec.0.1.actual-velocity => cia402.1.drv-actual-velocity

# --- from cia402 to servo(ethercat)

net s-controlword         cia402.1.controlword         => lcec.0.1.cia-controlword
net s-modes-of-operation  cia402.1.opmode              => lcec.0.1.opmode
net s-drv-target-pos      cia402.1.drv-target-position => lcec.0.1.target-position
net s-drv-target-velo     cia402.1.drv-target-velocity => lcec.0.1.target-velocity

Giuly

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