Hello,I am in the process of getting 4x Lichuan LC10E drives running in CSP mode. I have also observed the behavior of a large following error in CSP mode, as user Sandro mentioned in his post on 14 Sep 2024. After many hours of trying to run CSP mode without encountering a large following error, I suspect that parameter 6068 "Position window time" is to blame. The default setting is 16 ms, which I interpret as the drive having 16 ms to reach the required position. Together with parameter 6067 "Position window", this allows for a large following error while the drive still believes it is operating correctly.
Unfortunately, I am unable to change these values. Initially, I tried reading them with:"<pdoEntry idx="6068" subIdx="00" bitLen="16" halPin="position-window-time" halType="u32"/>"
But this gives me a changing value in HAL show with strange behavior as I would expect a steady value of 16When I try to write to 6068, I get the following error:
Code:
LCEC: Slave 0.3: Failed to execute SDO Download (0x6068:0x00, size 2, byte0=1, error -5, abort_code 0000000=)
Maybe this helps someone with more knowledge of EtherCAT achieve accurate positioning in CSP mode.Best regards,
Alex
