12.4.2 Software Preparation
Make sure the below config options is selected when configuring OpenIL.
• BR2_PACKAGE_IGH_ETHERCAT=y
• BR2_PACKAGE_LIBXML2=y
• BR2_PACKAGE_QORIQ_SERVO=y
12.4.3 CoE Network Detection
• Igh configuration
— Configure the MASTER0_DEVICE field of the
/etc/ethercat.conf
Set MASTER0_DEVICE to the MAC address to indicate which port the Igh uses .
— Configure DEVICE_MODULES="generic" of the
/etc/ethercat.conf
• Using the command
[root@OpenIL:~]#ethercatctl start
to start Igh service.
• Check CoE servo using below command.
[root@OpenIL:~]#ethercat slaves
0 0:0 PREOP + 2HSS458-EC
12.4.4 Start Test
Note:
The
Position encoder resolution
and
Velocity encoder resolution
of "2HSS458-EC" servo system are both 4000 . It means
the ratio of encoder increments per motor revolution.
•
Profile Position
mode test
NXP Semiconductors
nxp-servo
Open Industrial User Guide, Rev. 1.8, 05/2020
User's Guide
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