StepperOnline A6 Servo

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.

I'm new here and have same servo so decide to try your setup files. I was not able to achieve success with your files like MWalz did.
Maybe you can help me? Here is my output:
Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.3
Machine configuration directory is '/home/cnc/linuxcnc/configs/v2xt'
Machine configuration file is 'EtherCat_2025-01-13.ini'
INIFILE=/home/cnc/linuxcnc/configs/v2xt/EtherCat_2025-01-13.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=X
KINEMATICS=trivkins coordinates=X kinstype=BOTH
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
emc/iotask/ioControl.cc 786: can't load tool table.
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./Basic.hal
Starting TASK program: milltask
Starting DISPLAY program: axis
Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script
task: 126 cycles, min=0.000004, max=0.013546, avg=0.008413, 0 latency excursions (> 10x expected cycle time of 0.010000s)
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
note: MAXV max: 250.000 units/sec 15000.000 units/min
note: LJOG max: 250.000 units/sec 15000.000 units/min
note: LJOG default: 5.000 units/sec 300.000 units/min
note: jog_order='X'
note: jog_invert=set()
Could not open command file 'custom_postgui.hal'
Could not open command file 'shutdown.hal'
101766
101796
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

vizavadsky wrote:

Could not open command file 'custom_postgui.hal'
Could not open command file 'shutdown.hal'

Edit the ini file and omit those two lines then try again, usually they are not used.

Thank you. I made onother step towards spinning this motor because of that for sure!
I thing I got my XML wrong now.
Slaves:
cnc@raspberrypi:~/dev/hal-cia402$ ethercat slaves
0 0:0 PREOP + EK1100 EtherCAT-Koppler (2A E-Bus)
1 0:1 PREOP + EL1008 8K. Dig. Eingang 24V, 3ms
2 0:2 PREOP + EL2008 8K. Dig. Ausgang 24V, 0.5A
3 0:3 PREOP + AS715N_sAxis_V0.10

XML I got from MWalz but I changed slave idx from 0 to 3
I'm not sure but it is looks like logical thing to me.

<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
<slave idx="3" type="generic" vid="00400000" pid="00000715" configPdos="true" name="A6">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="25000"/>
<watchdog divider="2498" intervals="1000"/>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="control-word" halType="u32"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<pdoEntry idx="60B8" subIdx="00" bitLen="16" halPin="touch-probe-function" halType="u32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1A00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="status-word" halType="u32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos-actual" halType="s32"/>
<pdoEntry idx="60BA" subIdx="00" bitLen="32" halPin="touch-probe-1" halType="s32"/>
<pdoEntry idx="60BC" subIdx="00" bitLen="32" halPin="touch-probe-2" halType="s32"/>
<pdoEntry idx="60B9" subIdx="00" bitLen="16" halPin="touch-probe-status" halType="s32"/>
<pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="fault-code" halType="s32"/>
<pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="DI-status" halType="u32"/>
<pdoEntry idx="60F4" subIdx="00" bitLen="32" halPin="follow-error" halType="s32"/>
</pdo>
</syncManager>
</slave>
</master>
</masters>

And I got this report

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.3
Machine configuration directory is '/home/cnc/linuxcnc/configs/v2xt'
Machine configuration file is 'EtherCat_2025-01-13.ini'
INIFILE=/home/cnc/linuxcnc/configs/v2xt/EtherCat_2025-01-13.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=X
KINEMATICS=trivkins coordinates=X kinstype=BOTH
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
emc/iotask/ioControl.cc 786: can't load tool table.
Starting HAL User Interface program: halui
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./Basic.hal
Shutting down and cleaning up LinuxCNC...
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
HAL: ERROR: duplicate component name 'lcec_conf'
lcec_conf: ERROR: hal_init failed
./Basic.hal:6: waitpid failed lcec_conf lcec_conf
./Basic.hal:6: lcec_conf exited without becoming ready
6928
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

Should I change something in Basic.hal or this is my XML wrong?
Will appreciate any help guys.

vizavadsky wrote:

HAL: ERROR: duplicate component name 'lcec_conf'
lcec_conf: ERROR: hal_init failed
./Basic.hal:6: waitpid failed lcec_conf lcec_conf
./Basic.hal:6: lcec_conf exited without becoming ready
6928

Delete or omit (by adding # in front of it) the line trying to load lcec twice.