Problems with Lichuan Ethercat servo drive

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?