supporting separate LRD/LWR commands instead of an LRW command
fdarling opened this issue · comments
How hard would it be to modify the EtherCAT driver to support forcing separate LRD/LWR commands to be used rather than the combined LRW command? Is this something I could hire someone to work on?
I am trying to use a Yaskawa SGD7S EtherCAT drive with LinuxCNC, and I realized that it is not currently possible due to Yaskawa supporting Logical Read (LRD) and Logical Write (LWR), but not the combo Logical Read Write (LRW) command. This is specified here:
from this document: RV-Y4P05Q Beginning EtherCAT Master Development with Yaskawa Drive.pdf
This is pretty crazy to me, since the Chinese JMC JASD series servo drives work with LinuxCNC, you'd think Yaskawa would be more compatible!
I posted about this on the LinuxCNC forums:
Ethercat protocol not responding - Page 3 - LinuxCNC
You can see how Beckhoff's TwinCAT software has an option "Use LRD/LWR instead of LRW":
and here: https://infosys.beckhoff.com/english.php?content=../content/1033/ethercatsystem/2469132171.html
Or in this case, "Use LRW instead of LWR/LRD":
shown here: Schneider Electric Configuration of the EtherCAT Master
and here: Schneider Electric CODESYS Online Help - Tab 'EtherCAT Master - General'