Lichuan 4 axis stepper need help-

I asked Rony for it, let's see what he says.

Here is a litttle exercise.
Comment out all connections to lcec for the say fourth drive. No cia involved, only lcec.
Start linuxcnc and then start halshow.
First set lcec.0.x.4-opmode to 8.
Then step by step enter 6, 7 and 15 as 4-controlword (or 4-cia-controlword).
Watch how 4-statusword changes for every number entered.
Use a dec-to-bin converted to decode statusword.
Some of the statusword combinations are belwow
Probably especially valuable to compare the drive that works with one that doesn't.



 

Funny, I was just looking too. There is only one lcec slave showing

 

So if I go back and rework all the cia402 joints to point to the correct variable/pdo for that one slave, it might work!
 
 
XML and dump of PDO's is attached 

Well, that's disappointing! Thats exactly what I have done.
And all of my statuswords 1-3 are zero.
If you can see any obvious errors in the XML, let me know

I've attached my unfinished comp and hal for good luck. also had a look at Dominic's results and its the same
   

Can't you just forget about cia for the moment and only work with lcec, like I did.
And transition manually 6,7 15.

Hi, 
I am reading all the topics on EtherCAT and CIA402 carefully. Unfortunately, I am not a programmer and cannot contribute much.
But I found this page, maybe it will help?
EtherCAT Slave: CiA 402 example  

Note: would it be possible to incorporate certain safety routines? For example, a watchdog if the servo receives the command for homing but does not start moving.