Problems with Lichuan Ethercat servo drive
- LCR
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03 Dec 2025 19:10 #339700
by LCR
Replied by LCR on topic Problems with Lichuan Ethercat servo drive
Are you seeing a difference between the target position (607A) and the actual position (6064) that is persistent? IE you can force the motor out of position a bit, and it returns to the same incorrect position? This is different from following error, where the motor does not get to the position. With following error, if you force it, it will get to position and stay. OR if you force it past the target it will end with a following error from the opposite direction.
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13 Dec 2025 17:12 - 13 Dec 2025 17:15 #340061
by LCR
Replied by LCR on topic Problems with Lichuan Ethercat servo drive
So here is my setup directory. It has been 6 months since I've looked at this, also I'm not too proud, I just got it working.
It is for a gantry. Includes homing and compensates for the buildup of following error I see on all the axes.
The integration loop bit is at the bottom of cia402.comp. It's more like a slow drift than hard integration. But it does the job of eliminating the buildup of position error.
Also make sure you are sending the target velocity 60B1 and adjust the velocity gains. I ran the machine back and forth and watched following error as I adjusted the various velocity gains. They matter.
It is for a gantry. Includes homing and compensates for the buildup of following error I see on all the axes.
The integration loop bit is at the bottom of cia402.comp. It's more like a slow drift than hard integration. But it does the job of eliminating the buildup of position error.
Also make sure you are sending the target velocity 60B1 and adjust the velocity gains. I ran the machine back and forth and watched following error as I adjusted the various velocity gains. They matter.
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Last edit: 13 Dec 2025 17:15 by LCR.
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13 Dec 2025 17:14 #340062
by LCR
Replied by LCR on topic Problems with Lichuan Ethercat servo drive
LinuxCNC must have timed out I'll attach again hopefully.
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- Lili
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03 Jan 2026 12:43 - 03 Jan 2026 14:05 #340917
by Lili
Replied by Lili on topic Problems with Lichuan Ethercat servo drive
Hi trisa, "Turns out if you try reading an ethercat adress that the drive doesn`t have, nothing works."
Is it mandatory to change those error sdo/pdo errors:
0x1703:01, 0x1B03 ?
Is it mandatory to change those error sdo/pdo errors:
0x1703:01, 0x1B03 ?
Last edit: 03 Jan 2026 14:05 by Lili.
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- tomaszeg
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04 Jan 2026 12:52 - 04 Jan 2026 16:11 #340962
by tomaszeg
Replied by tomaszeg on topic Problems with Lichuan Ethercat servo drive
I bought a cheap Ethercat servo from Aliexpress and trying to make it working Linuxcnc. The servo is PFDE ethercat 400W and it is almost the same like Lichuan A5 (I'm using Lichuan manual because original i got is only in Chinese language). Generaly servo is working with linuxcnc, but once per many times it is not going to OP mode. I started debugging and it turned out that it has DC sync problems. Usually after 5s timeout, syncronization is failing, but still it is going to OP mode and I can operate it from Linuxcnc.
Can anyone help me with this problem? Generally it is working, but I dont want situation that I have to start linuxcnc few times to make it working.
I have xml configuration file from seller, but they don't provide any application to program EEPROM, but when I'm checking slave version, it is the same that I got from seller. The dmesg output is:
Can anyone help me with this problem? Generally it is working, but I dont want situation that I have to start linuxcnc few times to make it working.
I have xml configuration file from seller, but they don't provide any application to program EEPROM, but when I'm checking slave version, it is the same that I got from seller. The dmesg output is:
[color=#000000][ 9372.332054] EtherCAT WARNING: Datagram 00000000b0d26d62 (master-fsm) was SKIPPED 1 time.
[color=#000000][ 9603.335415] EtherCAT: Requesting master 0...
[color=#000000][ 9603.335421] EtherCAT: Successfully requested master 0.
[color=#000000][ 9603.335511] EtherCAT 0: Domain0: Logical address 0x00000000, 26 byte, expected working counter 3.
[color=#000000][ 9603.335513] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 26 byte, type LRW.
[color=#000000][ 9603.335534] EtherCAT 0: Master thread exited.
[color=#000000][ 9603.335537] EtherCAT 0: Starting EtherCAT-OP thread.
[color=#000000][ 9603.335572] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[color=#000000][ 9604.007324] EtherCAT ERROR 0-0: Failed to receive DC sync check datagram: Datagram queued.
[color=#000000][ 9604.333875] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[color=#000000][ 9604.733868] EtherCAT WARNING: Datagram 00000000b0d26d62 (master-fsm) was SKIPPED 1 time.
[color=#000000][ 9609.114230] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[color=#000000][ 9609.119230] EtherCAT 0: Domain 0: Working counter changed to 3/3.
[color=#000000][ 9609.429835] EtherCAT 0: Slave states on main device: OP.
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Last edit: 04 Jan 2026 16:11 by tomaszeg. Reason: dmesg was no readable
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- szolkaa
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31 Jan 2026 20:56 #342263
by szolkaa
Replied by szolkaa on topic Problems with Lichuan Ethercat servo drive
I would like to share my repositories at github, this repository consist of Programs created to automate the creation of EtherCAT configuration files, solutions for all the problems described at this topic as well configs for XYZ, and XYYZ.
topic:
github.com/szolkaa/Automatic-linuxcnc-co...rators-for-ethercat/
topic:
github.com/szolkaa/Automatic-linuxcnc-co...rators-for-ethercat/
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- rodw
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01 Feb 2026 00:06 #342265
by rodw
Replied by rodw on topic Problems with Lichuan Ethercat servo drive
looks great. I'll have a play.
Does my homecomp you link to work for you without any changes?
github.com/rodw-au/cia402_homecomp
I never had hardware in the end to test it properly.
Does my homecomp you link to work for you without any changes?
github.com/rodw-au/cia402_homecomp
I never had hardware in the end to test it properly.
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