SOLVED - LS L7N Servo drives

Hi there,I need help with something.

The L7N series servo motors work fine with the settings in the l7npos.xml and l7npos.hal files.

But I want to use them with cia402.comp. I've configured the settings in the attached "l7npos_cia402.xml" and "l7npos_cia402.hal" files, but the motors aren't working. They're stay in the "Enabled" state.

What do you think I did wrong?

1. make sure all ecat servos are OP+ status before you run any move action in lcnc.
by run "ethercat sl" cmd in terminal.
2. a working ecat servo which is in CSP mode, it's cia-controlword should be 15 (4>6>7>15).
if yours is not, check statusword,  there must be someone bit in wrong.
you can use halshow panel, get value of statusword pin, and convert to binary, check every status bit with servo instruction manual.

1. they are all in OP state,
image missing https://imgur.com/1my631w.png

2. when I move X axis target position is increasing or decreasing, but actual position is not,
all motors waiting in enabled state
image missing https://imgur.com/ZHC53c3.png

with these settings, axis moves perfectly,
control word is 1111 = 15
status word is 1001000100111 = 4647,
so they are same

image missing https://imgur.com/Yx4yZ7R.png

statusword is 4647, means the bit4 (Voltage enabled) is 0.
therefore your opmode is not set to be 8.

try remove sdoconfig lines in xml. I'm not sure if that's the reason.

the both ways have the same statusword, but their execution timing may not be the same, I'm not sure

I think I caught a clue.

first photo is taken when the motors working, and second is taken when the motors not,
according to L7N's manual P on first digit is meaning servo is in Position mode,
How can I take the servo to P mode?
image missing https://imgur.com/Bz7Yt5x.png



image missing https://imgur.com/VnHTBqT.png

image missing https://imgur.com/oC6WVw8.png