Problems with Lichuan Ethercat servo drive
12 Apr 2024 20:07 #298112
by trisa25
Problems with Lichuan Ethercat servo drive was created by trisa25
Hello,
I have ordered a Lichuan LC10E servo drive with motor for testing.
After following Rodw's guide I have successfully installed all needed software components. Ethercat slave also lists my drive speccifically in PREOP mode. I cannot get the drive to go into OP mode with opening lcnc nor with manually toggling the state with ethercat states -p0 OP command.
Any recommendations on what I can check first?
Below are my configuration files.
Kind regards,
Jan
I have ordered a Lichuan LC10E servo drive with motor for testing.
After following Rodw's guide I have successfully installed all needed software components. Ethercat slave also lists my drive speccifically in PREOP mode. I cannot get the drive to go into OP mode with opening lcnc nor with manually toggling the state with ethercat states -p0 OP command.
Any recommendations on what I can check first?
Below are my configuration files.
Kind regards,
Jan
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12 Apr 2024 20:26 #298115
by rodw
Replied by rodw on topic Problems with Lichuan Ethercat servo drive
Try this.
Looks like your
# joint signals for motion
are in the wrong place
move after
# ethercat to cia402 driver
Looks like your
# joint signals for motion
are in the wrong place
move after
# ethercat to cia402 driver
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13 Apr 2024 12:57 #298163
by trisa25
Replied by trisa25 on topic Problems with Lichuan Ethercat servo drive
Thank you, will try tommorow and report back.
Kind regards,
Jan
Kind regards,
Jan
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14 Apr 2024 19:47 #298252
by trisa25
Replied by trisa25 on topic Problems with Lichuan Ethercat servo drive
Sadly still no progress 
Also tried some other different orders of code with no success.
Jan
Also tried some other different orders of code with no success.
Jan
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16 Apr 2024 09:24 #298349
by 0x2102
Replied by 0x2102 on topic Problems with Lichuan Ethercat servo drive
Open a terminal and run "sudo dmesg -wH" to monitor for EtherCAT errors.
Start your machine and post what it complains about.
Start your machine and post what it complains about.
The following user(s) said Thank You: besriworld
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16 Apr 2024 17:23 #298390
by trisa25
Replied by trisa25 on topic Problems with Lichuan Ethercat servo drive
Here is the part that you probably need.
Attached file is the whole dmesg output.
Does this mean that this servo drives sii is not correctly configured?
I have also tested and can switch the drive between INIT and PREOP states.
Attached file is the whole dmesg output.
Does this mean that this servo drives sii is not correctly configured?
I have also tested and can switch the drive between INIT and PREOP states.
[ +0.028027] EtherCAT 0: 1 slave(s) responding on main device.
[ +0.000006] EtherCAT 0: Slave states on main device: INIT.
[ +0.000528] EtherCAT 0: Scanning bus.
[ +0.401850] EtherCAT ERROR 0-0: Invalid data size 2 at uploading SDO 0x1703:01.
[ +0.000004] EtherCAT ERROR 0-0: Failed to read mapped PDO entries for PDO 0x1703.
[ +0.024048] EtherCAT ERROR 0-0: Invalid data size 1 at uploading SDO 0x1B03:09.
[ +0.000002] EtherCAT ERROR 0-0: Failed to read mapped PDO entries for PDO 0x1B03.
[ +0.000002] EtherCAT 0: Bus scanning completed in 424 ms.
[ +0.000001] EtherCAT 0: Using slave 0 as DC reference clock.
[ +0.005533] EtherCAT 0: Slave states on main device: PREOP.
[Apr16 18:00] EtherCAT: Requesting master 0...
[ +0.000005] EtherCAT: Successfully requested master 0.
[ +0.000143] EtherCAT 0: Domain0: Logical address 0x00000000, 196 byte, expected working counter 1.
[ +0.000002] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 196 byte, type LWR.
[ +0.000012] EtherCAT 0: Master thread exited.
[ +0.000002] EtherCAT 0: Starting EtherCAT-OP thread.
[ +0.000036] EtherCAT WARNING 0: 2 datagrams TIMED OUT!
[ +0.087224] EtherCAT ERROR 0-0: SDO upload 0x1601:00 aborted.
[ +0.000006] EtherCAT ERROR 0-0: SDO abort message 0x06020000: "This object does not exist in the object directory".
[ +0.000002] EtherCAT ERROR 0-0: Failed to read number of mapped PDO entries.
[ +0.000001] EtherCAT WARNING 0-0: Failed to read PDO entries for PDO 0x1601.
[ +0.004992] EtherCAT ERROR 0-0: SDO download 0x1601:00 (1 bytes) aborted.
[ +0.000003] EtherCAT ERROR 0-0: SDO abort message 0x06020000: "This object does not exist in the object directory".
[ +0.000001] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ +0.000001] EtherCAT WARNING 0-0: Currently mapped PDO entries: (none). Entries to map: 0x6040:00/16 0x6060:00/8 0x607A:00/32
[ +0.000005] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1601.
[ +5.056991] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[ +0.004002] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ +0.000996] EtherCAT ERROR 0-0: AL status message 0x001D: "Invalid output configuration".
[ +0.002000] EtherCAT 0-0: Acknowledged state PREOP.
[ +13.761889] EtherCAT 0: Master thread exited.
[ +0.000023] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ +0.000032] EtherCAT ERROR 0-0: Failed to receive AL state datagram: Datagram initialized.
[ +0.000011] EtherCAT 0: Releasing master...
[ +0.000001] EtherCAT 0: Released.
[ +0.358490] EtherCAT WARNING: Datagram 0000000040ce6834 (master-fsm) was SKIPPED 1 time.Please Log in or Create an account to join the conversation.
16 Apr 2024 17:53 #298393
by trisa25
Replied by trisa25 on topic Problems with Lichuan Ethercat servo drive
I have now edited the ethercat conf first pdo idx to 1702 and second pdo idx to 1b02 and now i can change the servo state to safeop but still no other state.I can not upload servo manual because it is too large.
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17 Apr 2024 19:44 #298484
by trisa25
Replied by trisa25 on topic Problems with Lichuan Ethercat servo drive
After a bit of searching I think that sii eeprom is not configured correctly on this drive.
I will ask the manufacturer for xml file in hopes of making it work.
I will ask the manufacturer for xml file in hopes of making it work.
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18 Apr 2024 14:15 #298559
by Sandro
Replied by Sandro on topic Problems with Lichuan Ethercat servo drive
Hi Jan
I have the same drive on order and hope I can do some testing soon. Very interested in the topic and your progress.
I have the same drive on order and hope I can do some testing soon. Very interested in the topic and your progress.
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19 Apr 2024 20:03 #298665
by trisa25
Replied by trisa25 on topic Problems with Lichuan Ethercat servo drive
Good news the motor is running!!
Turns out if you try reading an ethercat adress that the drive doesn`t have, nothing works.
I have attached linuxcnc configuration files intended for testing only and LC10E xml (ESI) file if anyone wants to tinker.
Servo drive manual is available on link: drive.google.com/file/d/1qAFw_8SHKfR-JmR...Nqz/view?usp=sharing
Next on: try to implement higher frequency velocity mode.
Turns out if you try reading an ethercat adress that the drive doesn`t have, nothing works.
I have attached linuxcnc configuration files intended for testing only and LC10E xml (ESI) file if anyone wants to tinker.
Servo drive manual is available on link: drive.google.com/file/d/1qAFw_8SHKfR-JmR...Nqz/view?usp=sharing
Next on: try to implement higher frequency velocity mode.
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