Dual axis Lichuan driver configuration problem

I've been really curious about EtherCAT and decided to take a deep dive and a bit of risk in ordering a Lichuan CL57E-2A. It's a 2 axis, closed-loop stepper driver: en.xlichuan.com/product-xq/200.html

It took a little while looking through the forum, but once I found the information in this thread , particularly from Robbbbbb (thank you!), I got the drive into an OP state and 1 axis working in LinuxCNC fairly easily. So it was with a lot of expectation that I added the configuration for the 2nd axis, but then got nowhere for days.

Has anyone had success with a drive that has 2 axes?

I run `ethercat pdos` and have created the config .xml file attached. As I said, the first axis works, but the second doesn't get set up correctly, and it isn't controllable from LinuxCNC. Using the show HAL configuration tool, I can see the statusword in LCEC HAL pin shows `0x0000` for the second axis. Reading the value via `ethercat upload -p 0 0x6841 0 -t uint16`, I can see that it's not `0x0000`. So I'm thinking something is wrong with my config file or with the lece driver? Is it normal to have two PDOs in one sync manager?

Many thanks,
David.

 

It happens there are several pdos in a syncmanager, it's ok.

I don't see anything obvious wrong. So it can be some details.
Here are some options.
Check output of syslog "sudo dmesg | tail -30". The EtherCAT master writes 
messages there especially things it doesn't like.

The PDOS might not be configurable. You then need to specify exactly
the order the pdoentries appear, with correct sizes, don't skip anything. You have your listing
in some disorder so that might be it. Take help from the output of "lcec_configgen --typedb=false"

 

Hi David
Did you get running the 2A?
Im own the version with 4 axis and trying to get the right ethercat config.
The name of driver is CL57E-4A.
I will try to expand your example to 4 axis.
Perhaps you can told me, if you get it running?
Greets Lars

I have a second driver from Lichuan called OLC-E57H. I will also try to get it running. I think this should work all in same structure (hopefully).

Eisbaeeer wrote:

Hi David
Did you get running the 2A?
Im own the version with 4 axis and trying to get the right ethercat config.
The name of driver is CL57E-4A.
I will try to expand your example to 4 axis.
Perhaps you can told me, if you get it running?
Greets Lars

I have a second driver from Lichuan called OLC-E57H. I will also try to get it running. I think this should work all in same structure (hopefully).

Its critical with multi axis slaves that the xml exactly matches the pdo structure. fire up linuxcnc and in another window, type halcmd show pin cia402* Look for the status word. (or use halshow) They all should have the same value. If they don't your xml is wrong (ask me how I learnt this)