Problems with Lichuan Ethercat servo drive
- stirra
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21 Nov 2024 22:44 #315005
by stirra
Replied by stirra on topic Problems with Lichuan Ethercat servo drive
I just bought a set of Lichuan drives and motors (400w and 750w with brake), and am trying to bring one up. I started with a fresh 2.9.3 debian 12 install, and have carefully gone through this entire thread. As far as I can see, the last, most successful configuration was this one by Robbb:
forum.linuxcnc.org/ethercat/52341-proble...rive?start=60#304887
When I use this, I cannot get beyond PREOP state (blinking 2 0ry). The dmesg output is:
From the Lichuan LC-E manual, it looks like 0x1c12 sets the RxPDO allocation and 0x1c13 sets the TxPDO allocation. I have programmed the drive EEPROM using the xml file and eeprom programming software provided to me by Lichuan. It seems off that it is complaining about this, since I seem to be able to see the PDO registers with 'ethercat pdos':
Can somebody help me over this hump? I feel like I'm close to success.
Thanks!
-- Ralph
forum.linuxcnc.org/ethercat/52341-proble...rive?start=60#304887
When I use this, I cannot get beyond PREOP state (blinking 2 0ry). The dmesg output is:
[ +9.303879] EtherCAT: Requesting master 0...
[ +0.000004] EtherCAT: Successfully requested master 0.
[ +0.000248] EtherCAT 0: Domain0: Logical address 0x00000000, 24 byte, expected
working counter 3.
[ +0.000003] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000,
24 byte, type LRW.
[ +0.000014] EtherCAT 0: Master thread exited.
[ +0.000001] EtherCAT 0: Starting EtherCAT-OP thread.
[ +0.000048] EtherCAT WARNING 0: 1 datagram TIMED OUT!
[Nov21 11:52] e1000e 0000:00:1f.6 eno1: NIC Link is Up 100 Mbps Full Duplex, Flo
w Control: None
[ +0.000804] EtherCAT 0: Link state of ecm0 changed to UP.
[ +0.042737] EtherCAT 0: 1 slave(s) responding on main device.
[ +0.000005] EtherCAT 0: Slave states on main device: PREOP.
[ +0.002248] EtherCAT 0: Scanning bus.
[ +0.509737] EtherCAT WARNING 0: 2 datagrams TIMED OUT!
[ +0.840264] EtherCAT ERROR 0-0: Reception of CoE upload request for SDO 0x1c12
:0 failed with timeout after 1000 ms: No response.
[ +0.000007] EtherCAT ERROR 0-0: Failed to read number of assigned PDOs for SM2
.
[ +0.999993] EtherCAT ERROR 0-0: Reception of CoE upload request for SDO 0x1c13
:0 failed with timeout after 1000 ms: No response.
[ +0.000006] EtherCAT ERROR 0-0: Failed to read number of assigned PDOs for SM3
.
[ +0.000398] EtherCAT 0: Bus scanning completed in 2352 ms.
[ +0.000003] EtherCAT 0: Using slave 0 as DC reference clock.
[ +0.000003] EtherCAT 0: Starting EoE thread.
[ +0.039613] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused stat
e change (PREOP + ERROR).
[ +0.001998] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input confi
guration".
[ +0.004007] EtherCAT 0-0: Acknowledged state PREOP.
[ +0.033984] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused stat
e change (PREOP + ERROR).
[ +0.000997] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input confi
guration".
[ +0.002000] EtherCAT 0-0: Acknowledged state PREOP.
From the Lichuan LC-E manual, it looks like 0x1c12 sets the RxPDO allocation and 0x1c13 sets the TxPDO allocation. I have programmed the drive EEPROM using the xml file and eeprom programming software provided to me by Lichuan. It seems off that it is complaining about this, since I seem to be able to see the PDO registers with 'ethercat pdos':
SM0: PhysAddr 0x1000, DefaultSize 256, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize 256, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize 12, ControlRegister 0x64, Enable 1
RxPDO 0x1600 "1st receive PDO Mapping"
PDO entry 0x6040:00, 16 bit, "Control Word"
PDO entry 0x607a:00, 32 bit, "TargetPosition"
PDO entry 0x60b8:00, 16 bit, "Touch probe function"
PDO entry 0x6060:00, 8 bit, "Modes of Operation"
PDO entry 0x60ff:00, 32 bit, "Target velocity"
SM3: PhysAddr 0x1c00, DefaultSize 28, ControlRegister 0x20, Enable 1
TxPDO 0x1a00 "1st transmit PDO Mapping"
PDO entry 0x603f:00, 16 bit, "Error code"
PDO entry 0x6041:00, 16 bit, "Statusword"
PDO entry 0x6064:00, 32 bit, "Position actual value"
PDO entry 0x606c:00, 32 bit, "Velocity Actual Value"
PDO entry 0x60b9:00, 16 bit, "Touch probe status"
PDO entry 0x60ba:00, 32 bit, "Touch probe pos1 pos value"
PDO entry 0x60fd:00, 32 bit, "Digital inputs"
PDO entry 0x6061:00, 8 bit, "Modes of Operation Display"Can somebody help me over this hump? I feel like I'm close to success.
Thanks!
-- Ralph
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- COFHAL
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21 Nov 2024 23:35 #315008
by COFHAL
Replied by COFHAL on topic Problems with Lichuan Ethercat servo drive
What version of firmware do the drivers have installed?
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- stirra
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22 Nov 2024 00:28 #315010
by stirra
Replied by stirra on topic Problems with Lichuan Ethercat servo drive
"LC10E V1.11.xml" is what I just got from Lichuan and wrote to the drive EEPROM.
Is there an older one I should try?
-- Ralph
Is there an older one I should try?
-- Ralph
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22 Nov 2024 00:58 - 22 Nov 2024 01:01 #315011
by COFHAL
Replied by COFHAL on topic Problems with Lichuan Ethercat servo drive
With version 1.04 it works, I installed 1.11 and it didn't work.
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Last edit: 22 Nov 2024 01:01 by COFHAL.
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- stirra
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22 Nov 2024 01:13 #315012
by stirra
Replied by stirra on topic Problems with Lichuan Ethercat servo drive
That fixed it! Thank you very much.
-- Ralph
-- Ralph
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- NickH
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28 Nov 2024 22:35 #315492
by NickH
Replied by NickH on topic Problems with Lichuan Ethercat servo drive
So having tried a dozen times to get this to work, the best I could manage was to get lcec_conf to load, showing the example pins only(show pin lcec.) I haven't managed to get servos to show at all using 'ethercat slaves', or in LinuxCNC itself.
I have tried RodW's config files and the LC10EV1.04.xml configuration file provided by COFHAL, to no avail.
For some reason my network port isn't letting me see my servos (4x400w currently plugged in), though it works perfectly well for install and other purposes.
No problems were encountered installing, or updating upto this point.
Does anyone have any ideas?
Did I see somewhere above that there was some configuration software available from Lichuan?
I have tried RodW's config files and the LC10EV1.04.xml configuration file provided by COFHAL, to no avail.
For some reason my network port isn't letting me see my servos (4x400w currently plugged in), though it works perfectly well for install and other purposes.
No problems were encountered installing, or updating upto this point.
Does anyone have any ideas?
Did I see somewhere above that there was some configuration software available from Lichuan?
The following user(s) said Thank You: Philip Lydin
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- stirra
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28 Nov 2024 23:11 #315495
by stirra
Replied by stirra on topic Problems with Lichuan Ethercat servo drive
Lichuan says some Linuxcnc users have success with firmware 1.11 and others with 1.04. They have a windows program for loading the firmware into the drive.
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- NickH
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28 Nov 2024 23:26 #315497
by NickH
Replied by NickH on topic Problems with Lichuan Ethercat servo drive
Thank you stirra, do you happen to have a link to this software and 1.11? The only support link I had back in July was to the manual. My drives show "10rY" on powering-up but don't connect.
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- stirra
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29 Nov 2024 00:40 #315502
by stirra
Replied by stirra on topic Problems with Lichuan Ethercat servo drive
They emailed a special link, but I have it temporarily up on a server (to copy from my linux laptop to a windows laptop). Future readers of this thread should contact Lichuan for the files though. For the moment, you can grab them at:
gab.wallawalla.edu/~ralph.stirling/misc/lichuan/
-- Ralph
gab.wallawalla.edu/~ralph.stirling/misc/lichuan/
-- Ralph
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29 Nov 2024 11:03 #315529
by NickH
Replied by NickH on topic Problems with Lichuan Ethercat servo drive
Ralph, you are a star, thank you. I'll try these a little later.
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