Ethercat总线 伺服主轴
#*******************#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-displaylcec.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)
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