StepperOnline A6 Servo

Hello dschultz,
could you share your working configuration?
I have the same servo but are not able to switch it to OP mode.
Thanks!

These are basic with just the X axis.

Thanks a lot, I can confirm your configuration works.

These are my first steps using ethercat. My mistake was that I added sdoConfig commands in the ethercat.xml to configure the PDO mapping like described in the servos manual.
Seems like it's sufficient to just add the pdoEntry's for the desired PDO mapping group and somehow it's configured automatically. By linuxcnc or the ethercat subsystem?
Maybe someone can comment/confirm this to avoid others making the same mistake.

Hi, so I'm a total noob regarding linuxcnc and servos, but hopefully someone here can help.

I got the A6 servos and I've set up a RPi5 with Ethercat. With your config I'm able to energise the servo (only one connected atm.) however I cant get it to move. If I try jogging it I immediately get an error "joint 0 following error" and a X symbol, and the servo de-energises. I get position readout in the DRO. I've tried increasing FERROR and MIN_FERROR a lot, then I don't get any errors but the servo wont move.

Thank you in advance!

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! image missing /media/kunena/emoticons/smile.png
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.