Lichuan 4 axis stepper need help-

There was a question on that drive before in the forum, was that of any help?
Not exactly the problem you have if I recall right, but anyway.
Hoping to avoid looking at all supplied files hehe.

Hakan wrote:

There was a question on that drive before in the forum, was that of any help?
Not exactly the problem you have if I recall right, but anyway.
Hoping to avoid looking at all supplied files hehe.
 

Maybe not so Lucky. I did find a thread on a 2 axis drive that had the same issue but it was never resolved.  I think this is  a deeper problem but don't know why. At least I have the config sorted out and working BUT....

Joint 0 is working perfectly now but Joints 1, 2 and 3 do nothing. The statusword etc are not updating so I am beginning to think this is an issue with our drivers etc. Is it because there is not a slave for every drive? Maybe there is something to enable the later drives so will dig.
I've updated some files attached here.


 

Some ideas.
Check syslog: "sudo dmesg | tail -30"
Are pdos configurable? Check the esi/xml file. Adjust configPdos if needed.
It's one slave. Config looks ok in principle.
Try with only the seconds drive, remove 0x1600, 0x1620, 0x1630, same for Rxpdos.

yeh, I looked at dmesg.
I did a brief review. It looks like cia402 is getting an enable signal and something goes awry before the drives come on line
I've never liked the current cia402 component source code as its really too hard to debug and does not follow a cia402 state machine.
It also no longer works properly for homing without modification with the advent of homecomps!
So I'm going to try to rewrite it 

Well, I think it follows the state diagram up to the point of operation
 

But for sure it isn't perfect. I have noticed multiple homing components around even if I don't use it myself.
Can you add support for PV (Profile Velocity) while you are at it? I made a quick fix for that.
PV is suitable for spindle mode.

You should be able to transition states manually, in halshow for example, using controlword and check statusword.
Maybe that can give a clue to why it seems so grumpy.

I gave some detailed instructions to Grok last night then slept like a baby.. I always wanted to use a C union to break out status word etc into  bits starts to make it readable.