Tutorial,LinuxCNC,IndraDriveandEtherCAT.pdf_linuxcncethercat

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Little Tutorial for the use of Bosch Rexroth       
IndraDrives with LinuxCNC over EtherCAT
Goal
● Use existing free or GPL Software (Octobre 2013) to get IndraDrives working with                         
LinuxCNC over EtherCat without any programming 
● Standard PC-Hardware 
● Performance as professional CNC in terms of interpolation, control loops cycle time,                       
speed, following error 
● At the End of this tutorial you should be able to use the IndraDrives with LinuxCNC over                                 
EtherCAT 
Requirements
● Supported Ethernet Hardware see Etherlab 
● Etherlab Softmaster see Etherlab Softmaster 
● Source Snapshot for linuxCNC from Sascha Ittner see HAL EtherCat Driver 
● Working LinuxCNC see ISO Image for LinuxCNC 
● EtherCAT XML Device Description File e.g. for IndraDrive see under Download 
Quick Overview to get it working in Case for IndraDrive
1. Build LinuxCNC with EtherCat HAL-Driver like described here 
2. Set up the drive and settings (motor, inverter, Hardware, Switches, Limits,...) with the                         
Software IndraWorks (free software for Bosch Rexroth Products) on Windows using                     
Ethernet connection.  
3. Set up the Bus Telegram (PDO’s, Cycle Time) with Tool EtherCAT Configurator (you need                           
therefore the to set up the Bus Telegram (PDO’s, Cycle Time) with Tool EtherCAT                           
Configurator (you need therefore the XML Device Description File e.g. for IndraDrive see                         
under Download 
XML Device Description File e.g. for IndraDrive see under Download 
4. Create a XML file (by Hand) for the existing ‘generic’ driver option for the HAL EtherCat                               
Driver 
5. Set up HAL-components and HAL configuration. The scaling of the position command can                         
be done with HAL-components in the HAL setup file *.hal 
 
From my point of view if you want to go more professional and/or more generic you have to                                   
modify the XML parsing in the lcec_conf.c and therefore modify some parts in lcec_generic.c                           
without the need to write a hardware specific driver. Also you have to modify the homing                               
procedure (homing

.c

) to use the more advanced internal homing of the drives directly (interrupt                           
controlled recognition of the homing switches). I did this for my needs but this is not content of                                   
this tutorial. (see first video of the setup or some other videos on my channel here) 
 