StepperOnline A6 Servo

So, after several hours I stumbled on something and somehow I managed to get it working my self

Only thing I did was to change the "setp cia402.0.pos-scale" to -2000. I have no idea what it means even... but I saw the difference when looking through Marcorep's github (github.com/marcoreps/linuxcnc_leadshine_EL8).

At least I'm starting to see the connection between all the .ini .hal and .xml files.

EDIT :

Okay so it was not actually the negative number, it was the fact that I removed it from the .ini and set it directly in the .hal file.

I had these two lines in .ini:
POSSCALE = 100000
VELOSCALE = 100000

and in .hal i had this:
setp cia402.0.pos-scale [JOINT_0]POSSCALE
setp cia402.0.velo-scale [JOINT_0]VELOSCALE

after the change I removed the two lines from .ini and changed the .hal to:
setp cia402.0.pos-scale -2000

And now I understand that the negative number just inverts the encoder Anyways I'm leaving my mistakes here so someone else might benefit from them.

It looks like you are figuring it out like I did! 
I started by mocking everything up on a wood panel and getting the motors turning.
Now I am getting starting installing it in a permanent cabinet and getting the motors on a machine.
I too had the following error until I raised my error limits.
I guess I will find out once I've got everything integrated if I need to tweak those values.

Looking forward to your updates btw have you tried getting the built in homing to work or setting up the I/O's in the drive?

Hey guys, I'm on the same boat, have you try the autotune software? I really don't get how it works, i can just start the inertia auto tuning and obtain the inertia number. How it's working for you?

I haven't got to any tuning yet still working on the control cabinet...
The version of tuning software that I have is mostly Chinese. I asked if they were planning to release and English version and was told no.
I was planning on tuning using the front panel of each drive.
We shall see I guess...

bananun wrote:

Looking forward to your updates btw have you tried getting the built in homing to work or setting up the I/O's in the drive?
 

I'm honestly undecided at this point how I will proceed with homing.
Since these have absolute encoders I'd like to just do instant homing and get battery boxes to maintain position data.
I will still need to do an initial sensor homing so LCNC has a reference to start from.
I did tinker a bit with the custom homing component mentioned elsewhere here on the forum but shelved that idea for the moment till I got the physical install part complete.
For IO's I'm using a couple Beckhoff modules.

Super cool, I just purchased the same servos/drivers for my mill conversion. This thread will be really useful once I get them and can start setting them up. Regarding tuning, I believe you can just use leadshine's motion studio software as they show it being used to configure the T6 servo in one of their videos (). Like many of their products, I believe they are licensing leadshine's tech.
For the cabinet, are you planning on using 1 contactor and line filter per motor as is shown in the manual or 1 of each for the entire cabinet?

dschultz wrote:

I'm honestly undecided at this point how I will proceed with homing.
Since these have absolute encoders I'd like to just do instant homing and get battery boxes to maintain position data.
I will still need to do an initial sensor homing so LCNC has a reference to start from.
I did tinker a bit with the custom homing component mentioned elsewhere here on the forum but shelved that idea for the moment till I got the physical install part complete.
For IO's I'm using a couple Beckhoff modules.

Gotcha, yeah I forgot to order the battery cables... but maybe it's possible to add an external battery to the drive somehow. It would also be really cool if it was possible to do sensorless homing with these, maybe possible with the torque feedback somehow?

Anyways, I managed to use the DI5 pin of the servo as a probe input. I'll post the files here as a reference for anybody that might be interested. I did change the C04_10 DI5 function selection to 0(no definition) if that matters. Keep in mind I have no idea what I'm doing ChatGPT and rodw's code here helped quite a bit!

MobiusToast wrote:

Super cool, I just purchased the same servos/drivers for my mill conversion. This thread will be really useful once I get them and can start setting them up. Regarding tuning, I believe you can just use leadshine's motion studio software as they show it being used to configure the T6 servo in one of their videos (

). Like many of their products, I believe they are licensing leadshine's tech.
For the cabinet, are you planning on using 1 contactor and line filter per motor as is shown in the manual or 1 of each for the entire cabinet?

The A6 are allegedly rebranded Inovance sv660N and not Leadshine as the T6. Might work anyways though!

EDIT: Motion studio seems to only work with RS232...

MobiusToast wrote:

Super cool, I just purchased the same servos/drivers for my mill conversion. This thread will be really useful once I get them and can start setting them up. Regarding tuning, I believe you can just use leadshine's motion studio software as they show it being used to configure the T6 servo in one of their videos (

). Like many of their products, I believe they are licensing leadshine's tech.
For the cabinet, are you planning on using 1 contactor and line filter per motor as is shown in the manual or 1 of each for the entire cabinet?

I'm using a single contactor for all 4 drives and at this point I don't have a filter installed, however after doing some research, I will probably add a single one sized for all drives.