StepperOnline A6 Servo

I was responding to  MWalz  13 Jan 2025 21:26  #318886  on this thread. 

Hi,
I am also working with the A6 servos.
I purchased the Stepperonline 750W sto for testing purposes. I got everything up and running without any problems.
But I have a few questions:
How can I adjust the electronic gear?
Is there a function in the .ini file or do I have to set this in the servo driver?
My axis has a pitch of 50:1 and the gearbox in front of it is 6:1.

Which signals are used in the cia402_homecomp?
Are the home switch and the Z-index of the servo used here, or just the home switch

regards

It's this parameterNormally set it in the hal file.
The  unit is encoder increments/measurement unit.

OK, thank you. If I calculate 131,072 / 50 / 6 = 436.906, should I enter this value?

I just got my first servo, too. But even after all Iread here i wasnt able to get it running maybe one of you already had the same problem or im just doing the same mistake over and over again.

Thanks for your help

OK i understand but it is the full HMI and the servo part of the xml. These are the only new things i just added due to the new Servo module i got. I did the same config like it is on page 1 where all others sayed it worked fine for them. What would u need to help?

Start by commenting out core_sim.hal and simulated_home.hal in the ini file.
You are now in the real world, not the simulated.

Hello everyone,

After successfully getting the EtherCAT configuration for the A6 750W up and running, I ordered the remaining servos for my milling machine.
A word of warning in advance: I had a lot of trouble with German customs. If the value of the goods exceeds €150, you have to react quickly and submit all the necessary documents to DHL Express, otherwise the delivery will be sent straight back to China.

The servos ordered this time are not the A6 750W but the A6 400W (A6-EC400H2A1-M17-STO). I thought I would just have to duplicate the entries in Ethercat.xml and only adjust the slave idx=.
That doesn't work. The A6 400W use completely different addresses.
Here is an excerpt from the Ethercat configuration:

A6 750W
=== Master 0, Slave 0 ===
SM0: PhysAddr 0x1000, DefaultSize  256, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize  256, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize   12, ControlRegister 0x64, Enable 1
  RxPDO 0x1600 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x6060:00,  8 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x60ff:00, 32 bit, ""
    PDO entry 0x607c:00, 32 bit, ""
    PDO entry 0x6098:00,  8 bit, ""
    PDO entry 0x6099:01, 32 bit, ""
    PDO entry 0x6099:02, 32 bit, ""
    PDO entry 0x609a:00, 32 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize   28, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 ""
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6061:00,  8 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x606c:00, 32 bit, ""
    PDO entry 0x6077:00, 16 bit, ""

A6 400W
=== Master 0, Slave 1 ===
SM0: PhysAddr 0x1000, DefaultSize  256, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize  256, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize   12, ControlRegister 0x64, Enable 1
  RxPDO 0x1701 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x60b8:00, 16 bit, ""
    PDO entry 0x60fe:01, 32 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize   28, ControlRegister 0x20, Enable 1
  TxPDO 0x1b01 ""
    PDO entry 0x603f:00, 16 bit, ""
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x6077:00, 16 bit, ""
    PDO entry 0x60f4:00, 32 bit, ""
    PDO entry 0x60b9:00, 16 bit, ""
    PDO entry 0x60ba:00, 32 bit, ""
    PDO entry 0x60bc:00, 32 bit, ""
    PDO entry 0x60fd:00, 32 bit, ""

This means I have to rewrite the xml for the A6 400W.
As soon as I'm done and the configuration is running, I'll upload it here.

regards

Andre