Problems with Lichuan Ethercat servo drive

I not remember tuning software on lichuan servo, stepper have utility to connect driver and change parameter - only on chinese

tar_san wrote:

Hello.
I had to recreate LC10 homing code from zero reading manual designated for a driver with a motor with incremental encoder . ( I thought original code was difficult to fix )

If you still have some problems, I consider to open my codes...( I have something to do for some improvement )
 

@tar_san - I very much would like to see your code.  I am not happy with my fixes to the original code.  Thank you!

-- Ralph

I'm sorry to be late to publish my codes.
This is my repository for it.

github.com/k-s-saki/LinuxCNC_EtherCAT/tr...in/Lichuan/LC10E-INC

tar_san wrote:

I'm sorry to be late to publish my codes.
This is my repository for it.

github.com/k-s-saki/LinuxCNC_EtherCAT/tr...in/Lichuan/LC10E-INC
 

Thank you so much @tar_san!  That is very helpful.  Could you also put your .ini and .hal files in your repository?

Has anyone used the io pins on the drives as io pins in linuxcnc?

Hello,

@LCR
Did you manage to solve the problem of offset a different way than the integration loop ? I have the exact same problem, and I am stuck when using csp mode 

I have everything working, some of it is AI coded, but I also made an installation guide on how I did it. 
github.com/KlaKalma/Ma_CNC

Here is the repo, for those who want it. 
This LC10E drive seems quite hard to use....

When I use CSV tho, it's working super well. I have a custom-made PID tuner, that automatically tunes the PID for the position. It's on the git. I have a few microns of error as well.
 

Just seeing this now. No I did not find another way. It works for me with the extra integration loop. My purpose was to machine some parts. I contacted lichuan and they said everything was fine on their test stand. It is sort of good to see someone else has the same issue. I have no other idea how to resolve it.

How did you realise the integration loop? Is it possible to share your cia402.conf?

I don't seem to have that handy. I will be back to the machine in a week or 2. I will make a backup and upload my configuration. What issues are you having?

Just the usual issue with the Lichuans with the huge following error in CSP mode. I have a config working in CSV mode which I posted a while back. But it would be nice to get this working in CSP mode. From my understanding you got this in check by modifying the cia402.conf with Velocity Feed Forward 60B1h?

Sandro wrote:

This is my full configuration. Please note this is for a hobby machine and I cannot take responsibility for any present or not present safety features. Use at your own risk.

Slave 0 is the Cat IO board which can be found on Aliexpress.
Slave 1 is a DVS 1.8 kW servo motor with 23 bit absolute encoder, which I am using as spindle. I have set the encoder to 17 bit incremental at the moment. The same XML configuration as for the Lichuan servos works for this one as well.
Slaves 2-4 are the Lichuan servos for my three axes.

I was having issues using the Lichuans in csp mode, due to quite a substantial following error. For this reason I have set them to csv mode. This way I was able to do some PID tuning and clamping down the error to a few microns. I was also playing arround with the parameters on the servo drives directly to improve on the following error further. Most parameters did not do a lot in my case. However, P08.15 "Load inertia ratio" helped a lot. For the axes X and Y I have currently set it to about 12 and for Z-axis to about 7.