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  • Cant do this anymore bye all
  • Cant do this anymore bye all's Avatar
31 Jul 2024 07:35
Replied by Cant do this anymore bye all on topic Is a parport fast enough?

Is a parport fast enough?

Category: General LinuxCNC Questions

I'm sorry mate, but that is what it is.

To begin with the ini has the make up of a hal file.

The "config" file is more like a driver file (linuxcnc uses ini & hal files). If it was to be a driver, it's not loaded, it's not added to any threads, so it wont do anything.

The timing for writing for writing to the "DAC" is unlikely to be met. You'll need two Parallel Port interfaces, and it's very rare to find a computer with 2 on board interfaces. The last time I saw a machine with Parallel Ports at 0x378 & 0x278 was old an old ISA bus machine where the cards needed to be configured by jumpers.

Now there are ways to control analogue servo drives, but the parallel port is not the way route to choose.

Now what I would suggest is to start a new topic asking the best way to control analogue servo drives. And lets leave this whole ChatGPT nonense behind us.

I would also recommend reading the documentation to get a feel of the basics.
  • pietxs
  • pietxs
31 Jul 2024 07:34

Mesa 7i77 remote error = (27) over current

Category: Driver Boards

Hello, I have the following problem with my 7i77 card.
I take the card's field voltage from my Maho machine, it's around 29V. I connected the machine's original relays to the outputs. Unfortunately I get the following error: hm2/hm2_7i77.0: Smart serial card hm2/hm2_7i777,0.7i77.0.0 remote error = (27) Over Current

I have already removed all outputs and inputs, unfortunately the error still persists. I completely disconnected the power supply and switched off the PC. Unfortunately the same error always occurs when restarting and output 08-11 is permanently "on".

Can I reset the card somehow? Can I fix the error by rewriting the firmware?
Surely the outputs should be able to withstand the switching loads of the relays?

I hope someone has a helpful idea for me
  • Basti189
  • Basti189's Avatar
31 Jul 2024 07:30

Lathe turret tool changer with absolute encoder

Category: Advanced Configuration

Hello, sorry to bring up the old thread again, I have read through everything with enthusiasm because I have the same problem with the encoder,

my revolver is almost exactly the same only with 12 places and a brake on the motor .... My question did you solve the problem ? And if so how ? 

Thanks 
  • JamesHoward
  • JamesHoward
31 Jul 2024 07:14
Replied by JamesHoward on topic Is a parport fast enough?

Is a parport fast enough?

Category: General LinuxCNC Questions

well... thanks for your help
  • AD_15
  • AD_15
31 Jul 2024 06:44
SPINDLE USING GPIO was created by AD_15

SPINDLE USING GPIO

Category: General LinuxCNC Questions

Hello!!
I have designed my own board for 3 axis motion control using spartan 6 FPGA. Here we have tested our board using stepper and we have successfully done with homing but while we try to run a design file we are getting errors of joint 0, joint 1, joint 2. But in servo we are getting error of joint 0, joint 1, joint 2 as I start linuxcnc. So what should be the reason behind joint 0 following error?

Can Someone please help me regarding this issue?
 
  • Cant do this anymore bye all
  • Cant do this anymore bye all's Avatar
31 Jul 2024 06:19
Replied by Cant do this anymore bye all on topic Is a parport fast enough?

Is a parport fast enough?

Category: General LinuxCNC Questions

It's not even a base, its mumbo jumbo.
  • IronManDylan
  • IronManDylan
31 Jul 2024 06:02
Simultaneous 4th Axis Cut Moving Too Slow was created by IronManDylan

Simultaneous 4th Axis Cut Moving Too Slow

Category: General LinuxCNC Questions

Hi, 

I haven't asked a question in a while but I am machining something new on my mill with my 4th axis and it is requiring me to do a simultaneous 4th axis cut which I have not done before. I had some issues simply getting to tool path to post correctly.  I finally figured that out but now the cut is going extremely slow.  The velocity is supposed to be cutting at 46  in/min.  The post processor is indeed posting this velocity with "F46", however the cut is going extremely slow. Since the post processor is outputting the correct velocity I do not think it is the post processor that is at fault but something going on with linuxcnc. The endmill is taking such a small cut that the aluminum is coming off as fine dust.  The "vel" on the display is showing around "2" (I am not sure if this is in inches/min or not).

In my INI folder the max angular velocity is set to "33" and I can jog the 4th axis faster than what is going on in the cut.  So I do not think this is the problem.. I have outputted code in both the normal velocity profile and in the inverse profile and neither seem to help.

The cut is just a circular arc but the center of the arc is not centered with the rotational axis.  The tool path is just a contour where I need the tool to remain perpendicular to the arc. 

I appreciate any help or words of wisdom!
Best,
-Dylan
  • JamesHoward
  • JamesHoward
31 Jul 2024 05:06 - 31 Jul 2024 05:08
Replied by JamesHoward on topic Is a parport fast enough?

Is a parport fast enough?

Category: General LinuxCNC Questions

I know Chats algo's arent perfect.. Its like a highschooler still. It is a good base to start from tho. I actually have a seperate encoder card for the computer. I just had it throw it in there... But I sure like not having not to type all that out! Especially for something that might not even be good enough! Yes I would like to have real time! Of course!

I am looking to have real +-10 v for my servo drives. That is the end goal. I just have this DAC kicking around, I figured it could be of good use being bi-polar and all..... I have a 3 axis mill. I and not interested in changing the drives or motors. These puppies are 10 HP. I like to cut FAST! :dry: 
  • spumco
  • spumco
31 Jul 2024 03:24

Can a 'servo drive' be used to power a 3 phase AC spindle motor with encoder?

Category: Driver Boards

It depends on the servo drive, but generally not.

The 3p Fanuc you're referring to is an induction motor.  "AC servo" generally refers to a permanent magent synchronous motor.  Not the same thing.  And that U3K can't drive induction motors.

Of course, any motor (or actuator, really) that is controlled with a feedback loop can be considered a servo... but that's not really what you want to know.

The good news is that Fanuc can be driven with an ordinary VFD.  Depending on the amps, you can even use a 240vac 1p to 3p VFD.  You don't even need to replace the motor resolver - just leave it disconnected and run the motor open loop. My internet photo scraping indicates there's a separate encoder on the spindle... that's what LCNC will use to manage the motor speed and for threading/orientation.

But you're talking about a Conquest, not a toy lathe... so I'm guessing you're thinking about real work for real clients?  If that's the case I wouldn't trust a VFD-brake-induction motor combo to position to a tight tolerance repeatably for production work.  If you're making pipe flanges with a huge bolthole tolerance - no sweat.

Just think about how heavy the spindle is, plus the chuck, plus the work... and guesstimate the inertia ratio with a 1:1 belt drive... the whole arrangement will have a hard time stopping on a dime.  And if you fiddle the belt ratio to get some torque, you'll kill the max spindle RPM.

It's likely that the original Fanuc spindle drive could position well enough for C-axis work, but those things are big money for a reason; they're basically servo drives for induction motors.

My guess is that the minute you stick an end mill in a radial holder and try to cut a circumferential groove/feature the aftermarket VFD won't be able to handle it.  Same for polar interpolation with an axial tool (making a hex out of round with the X/C-axes).

[side note: LCNC doesn't have 'built-in' polar interpolation.  It can be done, but it's non-trivial to accomplish]

Others may have a different opinion, but mine is that for dynamic C-axis lathe work you need a separate positioning motor as well as a spindle-mounted high-res encoder.  My Emco CNC lathe uses a pneumatic cylinder to swing the C-axis positioning motor in to mesh with a large bull gear on the spindle.  I think it's about 40:1 - maybe more.  The constant air pressure keeps backlash to a minimum, but also makes it noisy and limits the C-axis top speed.

For little lathes (like the one I'm building - think HLV-H size), a big AC servo and a favorable belt ratio can work for positioning and light off-axis milling/engraving, but that's about it.  Unless the servo is massively oversized it just won't have enough torque for tight-tolerance work against unfavorable machining forces.

So to sum up - a VFD will spin that Fanuc.  And should do positioning OK (with the brake) for axial/radial drilling.  But i don't think it'll work for dynamic C-axis work, and the positioning accuracy may not meet your tolerance requirements

Just my two cents...
  • Cant do this anymore bye all
  • Cant do this anymore bye all's Avatar
31 Jul 2024 03:17
Replied by Cant do this anymore bye all on topic Is a parport fast enough?

Is a parport fast enough?

Category: General LinuxCNC Questions

It's rubbish. ChatGPT is stupid, on levels that will get we banned for even mentioning.

The config seems to a driver. That doesn't seem to be loaded. There's bits for quad encoders, spindle. It's like it's just thrown stuff together. There appears to be no consideration given to timing of signals.

What exactly do you want to do ?

If you just want to use a DAC in non real time there are so many other ways to do it without needing Linuxcnc.
  • JamesHoward
  • JamesHoward
31 Jul 2024 02:31
Is a parport fast enough? was created by JamesHoward

Is a parport fast enough?

Category: General LinuxCNC Questions

So heres a fun one! I was pondering..... Will a parallel port run a DAC directly?  I have an AD664-bip. It is a 4 channel 12 bit (8 pins with two words) bi-polar DAC. I had ChatGpt write up a driver for it. But before I go making up a PCB for this... What do you think??

Datasheet:
www.analog.com/media/en/technical-docume...ata-sheets/ad664.pdf

Here is the hal.ini
loadrt trivkins
loadrt motmod base_period=1000000 servo_period=1000000

# Load parallel port drivers
loadrt hal_parport cfg="0x378 out 0x278 out"

# Define DAC (AD664JN-BIP) control and data pins
net dac-data <= parport.0.pin-02-09
net dac-wr => parport.0.pin-10-out
net dac-cs => parport.0.pin-11-out

# Define quadrature encoders
net x-pos-a => parport.0.pin-12-in
net x-pos-b => parport.0.pin-13-in
net y-pos-a => parport.0.pin-14-in
net y-pos-b => parport.0.pin-15-in
net z-pos-a => parport.0.pin-16-in
net z-pos-b => parport.0.pin-17-in
net spindle-pos-a => parport.1.pin-10-in
net spindle-pos-b => parport.1.pin-11-in

# Define limit and home switches
net x-neg-limit => parport.1.pin-12-in
net x-pos-limit => parport.1.pin-13-in
net x-home => parport.1.pin-14-in

net y-neg-limit => parport.1.pin-15-in
net y-pos-limit => parport.1.pin-16-in
net y-home => parport.1.pin-17-in

net z-neg-limit => parport.1.pin-18-in
net z-pos-limit => parport.1.pin-19-in
net z-home => parport.1.pin-20-in

# Define global enable output
net global-enable => parport.0.pin-01-out

# Define GPIO pins
net gpio-in-00 <= parport.1.pin-02-in
net gpio-in-01 <= parport.1.pin-03-in
net gpio-in-02 <= parport.1.pin-04-in
net gpio-in-03 <= parport.1.pin-05-in
net gpio-in-04 <= parport.1.pin-06-in
net gpio-in-05 <= parport.1.pin-07-in

net gpio-out-00 => parport.1.pin-08-out
net gpio-out-01 => parport.1.pin-09-out
net gpio-out-02 => parport.1.pin-15-out
net gpio-out-03 => parport.1.pin-16-out
net gpio-out-04 => parport.1.pin-01-out
net gpio-out-05 => parport.1.pin-14-out

addf parport.0.read base-thread
addf parport.1.read base-thread
addf parport.0.write base-thread
addf parport.1.write base-thread

start

And here is the config:
#include "hal.h"
#include "rtapi.h"
#include "rtapi_app.h"
#include "rtapi_bitops.h"
#include "hal_parport.h"

// Define pins and parameters
static int comp_id;
static hal_float_t *x_output;
static hal_float_t *y_output;
static hal_float_t *z_output;
static hal_float_t *spindle_output;
static hal_bit_t *global_enable;
static hal_bit_t *x_home;
static hal_bit_t *y_home;
static hal_bit_t *z_home;

// Limit switches
static hal_bit_t *x_neg_limit, *x_pos_limit;
static hal_bit_t *y_neg_limit, *y_pos_limit;
static hal_bit_t *z_neg_limit, *z_pos_limit;

// Quadrature encoder positions
static hal_bit_t *x_pos_a, *x_pos_b;
static hal_bit_t *y_pos_a, *y_pos_b;
static hal_bit_t *z_pos_a, *z_pos_b;
static hal_bit_t *spindle_pos_a, *spindle_pos_b;

// GPIO pins
static hal_bit_t *gpio_in_00, *gpio_in_01, *gpio_in_02, *gpio_in_03, *gpio_in_04, *gpio_in_05;
static hal_bit_t *gpio_out_00, *gpio_out_01, *gpio_out_02, *gpio_out_03, *gpio_out_04, *gpio_out_05;

// Previous states for quadrature decoding
static int prev_x_pos = 0, prev_y_pos = 0, prev_z_pos = 0, prev_spindle_pos = 0;
// Position counters
static int x_counter = 0, y_counter = 0, z_counter = 0, spindle_counter = 0;

#define SCALE_FACTOR 204.8 // Scale factor for 12-bit DAC with ±10V range

// Lookup table for quadrature decoding
const int quad_table[16] = {
    0, -1,  1,  0,
    1,  0,  0, -1,
   -1,  0,  0,  1,
    0,  1, -1,  0
};

static void write_dac_value(uint8_t data)
{
    hal_parport_write_data(0, data);
    hal_parport_write_pin(0, 11, 0); // CS low
    hal_parport_write_pin(0, 10, 0); // WR low
    hal_parport_write_pin(0, 10, 1); // WR high
    hal_parport_write_pin(0, 11, 1); // CS high
}

static void update(void *arg, long period)
{
    uint16_t x_value = (uint16_t)((*x_output + 10.0) * SCALE_FACTOR); // Scaling from -10V to 10V
    uint16_t y_value = (uint16_t)((*y_output + 10.0) * SCALE_FACTOR);
    uint16_t z_value = (uint16_t)((*z_output + 10.0) * SCALE_FACTOR);
    uint16_t spindle_value = (uint16_t)((*spindle_output + 10.0) * SCALE_FACTOR);

    // Send data to DAC for each axis in sequence
    write_dac_value((x_value >> 4) & 0xFF); // Send upper 8 bits
    write_dac_value((x_value << 4) & 0xF0); // Send lower 4 bits

    write_dac_value((y_value >> 4) & 0xFF); // Send upper 8 bits
    write_dac_value((y_value << 4) & 0xF0); // Send lower 4 bits

    write_dac_value((z_value >> 4) & 0xFF); // Send upper 8 bits
    write_dac_value((z_value << 4) & 0xF0); // Send lower 4 bits

    write_dac_value((spindle_value >> 4) & 0xFF); // Send upper 8 bits
    write_dac_value((spindle_value << 4) & 0xF0); // Send lower 4 bits

    hal_parport_write_pin(0, 1, *global_enable);

    // Read limit and home switches
    *x_neg_limit = hal_parport_read_pin(1, 12);
    *x_pos_limit = hal_parport_read_pin(1, 13);
    *x_home = hal_parport_read_pin(1, 14);

    *y_neg_limit = hal_parport_read_pin(1, 15);
    *y_pos_limit = hal_parport_read_pin(1, 16);
    *y_home = hal_parport_read_pin(1, 17);

    *z_neg_limit = hal_parport_read_pin(1, 18);
    *z_pos_limit = hal_parport_read_pin(1, 19);
    *z_home = hal_parport_read_pin(1, 20);

    // Read quadrature encoder inputs
    int x_pos = hal_parport_read_pin(0, 12) | (hal_parport_read_pin(0, 13) << 1);
    int y_pos = hal_parport_read_pin(0, 14) | (hal_parport_read_pin(0, 15) << 1);
    int z_pos = hal_parport_read_pin(0, 16) | (hal_parport_read_pin(0, 17) << 1);
    int spindle_pos = hal_parport_read_pin(1, 10) | (hal_parport_read_pin(1, 11) << 1);

    // Quadrature decoding
    int x_delta = quad_table[(prev_x_pos << 2) | x_pos];
    int y_delta = quad_table[(prev_y_pos << 2) | y_pos];
    int z_delta = quad_table[(prev_z_pos << 2) | z_pos];
    int spindle_delta = quad_table[(prev_spindle_pos << 2) | spindle_pos];

    x_counter += x_delta;
    y_counter += y_delta;
    z_counter += z_delta;
    spindle_counter += spindle_delta;

    prev_x_pos = x_pos;
    prev_y_pos = y_pos;
    prev_z_pos = z_pos;
    prev_spindle_pos = spindle_pos;

    // Update GPIO output pins
    hal_parport_write_pin(1, 8, *gpio_out_00);
    hal_parport_write_pin(1, 9, *gpio_out_01);
    hal_parport_write_pin(1, 15, *gpio_out_02);
    hal_parport_write_pin(1, 16, *gpio_out_03);
    hal_parport_write_pin(1, 1, *gpio_out_04);
    hal_parport_write_pin(1, 14, *gpio_out_05);

    // Read GPIO input pins
    *gpio_in_00 = hal_parport_read_pin(1, 2);
    *gpio_in_01 = hal_parport_read_pin(1, 3);
    *gpio_in_02 = hal_parport_read_pin(1, 4);
    *gpio_in_03 = hal_parport_read_pin(1, 5);
    *gpio_in_04 = hal_parport_read_pin(1, 6);
    *gpio_in_05 = hal_parport_read_pin(1, 7);
}

int rtapi_app_main(void)
{
    comp_id = hal_init("my_driver");
    if (comp_id < 0)
    {
        return comp_id;
    }

    hal_pin_float_new("my_driver.x-output", HAL_OUT, &x_output, comp_id);
    hal_pin_float_new("my_driver.y-output", HAL_OUT, &y_output, comp_id);
    hal_pin_float_new("my_driver.z-output", HAL_OUT, &z_output, comp_id);
    hal_pin_float_new("my_driver.spindle-output", HAL_OUT, &spindle_output, comp_id);
    hal_pin_bit_new("my_driver.global-enable", HAL_OUT, &global_enable, comp_id);
    hal_pin_bit_new("my_driver.x-home", HAL_IN, &x_home, comp_id);
    hal_pin_bit_new("my_driver.y-home", HAL_IN, &y_home, comp_id);
    hal_pin_bit_new("my_driver.z-home", HAL_IN, &z_home, comp_id);

    hal_pin_bit_new("my_driver.x-neg-limit", HAL_IN, &x_neg_limit, comp_id);
    hal_pin_bit_new("my_driver.x-pos-limit", HAL_IN, &x_pos_limit, comp_id);
    hal_pin_bit_new("my_driver.y-neg-limit", HAL_IN, &y_neg_limit, comp_id);
    hal_pin_bit_new("my_driver.y-pos-limit", HAL_IN, &y_pos_limit, comp_id);
    hal_pin_bit_new("my_driver.z-neg-limit", HAL_IN, &z_neg_limit, comp_id);
    hal_pin_bit_new("my_driver.z-pos-limit", HAL_IN, &z_pos_limit, comp_id);

    hal_pin_bit_new("my_driver.x-pos-a", HAL_IN, &x_pos_a, comp_id);
    hal_pin_bit_new("my_driver.x-pos-b", HAL_IN, &x_pos_b, comp_id);
    hal_pin_bit_new("my_driver.y-pos-a", HAL_IN, &y_pos_a, comp_id);
    hal_pin_bit_new("my_driver.y-pos-b", HAL_IN, &y_pos_b, comp_id);
    hal_pin_bit_new("my_driver.z-pos-a", HAL_IN, &z_pos_a, comp_id);
    hal_pin_bit_new("my_driver.z-pos-b", HAL_IN, &z_pos_b, comp_id);
    hal_pin_bit_new("my_driver.spindle-pos-a", HAL_IN, &spindle_pos_a, comp_id);
    hal_pin_bit_new("my_driver.spindle-pos-b", HAL_IN, &spindle_pos_b, comp_id);

    hal_pin_bit_new("my_driver.gpio-in-00", HAL_IN, &gpio_in_00, comp_id);
    hal_pin_bit_new("my_driver.gpio-in-01", HAL_IN, &gpio_in_01, comp_id);
    hal_pin_bit_new("my_driver.gpio-in-02", HAL_IN, &gpio_in_02, comp_id);
    hal_pin_bit_new("my_driver.gpio-in-03", HAL_IN, &gpio_in_03, comp_id);
    hal_pin_bit_new("my_driver.gpio-in-04", HAL_IN, &gpio_in_04, comp_id);
    hal_pin_bit_new("my_driver.gpio-in-05", HAL_IN, &gpio_in_05, comp_id);

    hal_pin_bit_new("my_driver.gpio-out-00", HAL_OUT, &gpio_out_00, comp_id);
    hal_pin_bit_new("my_driver.gpio-out-01", HAL_OUT, &gpio_out_01, comp_id);
    hal_pin_bit_new("my_driver.gpio-out-02", HAL_OUT, &gpio_out_02, comp_id);
    hal_pin_bit_new("my_driver.gpio-out-03", HAL_OUT, &gpio_out_03, comp_id);
    hal_pin_bit_new("my_driver.gpio-out-04", HAL_OUT, &gpio_out_04, comp_id);
    hal_pin_bit_new("my_driver.gpio-out-05", HAL_OUT, &gpio_out_05, comp_id);

    rtapi_snprintf(name, sizeof(name), "my_driver.update");
    hal_periodic_func_new(update, NULL, 1000000);

    hal_ready(comp_id);
    return 0;
}

void rtapi_app_exit(void)
{
    hal_exit(comp_id);
}
  • Cant do this anymore bye all
  • Cant do this anymore bye all's Avatar
31 Jul 2024 02:28

Can a 'servo drive' be used to power a 3 phase AC spindle motor with encoder?

Category: Driver Boards

industrialautomationco.com/blogs/news/th...rvo-drives-explained

Pretty basic explanation, but comes down to motor construction.

Then again it might be best to contact the distributors/manufacturers.

Linuxcnc maybe able to control the VFD and close the loop for positioning purposes. Andy would have the wisest advice regarding this.
  • Cant do this anymore bye all
  • Cant do this anymore bye all's Avatar
31 Jul 2024 02:20
Replied by Cant do this anymore bye all on topic Newbie with config questions

Newbie with config questions

Category: General LinuxCNC Questions

First thing you need to realise is that Linuxcnc & GRBL are two very different implentations of cnc control.

Your grbl g-code sender just sends gcode to the grbl board and that interprets the gcode. There is no realtime communication between the 2.

Linuxcnc on the other hand does everything and works in realtime. So any inputs from a user or the machine are acted upon as they are seen. In a nut shell Linuxcnc does not send any gcode, it creates all the timing required to drive steppers, servos or whatever. Even when using the Mesa cards all the cards receive more or less are timing instructions.

Honestly I wouldn't waste any time converting your machine to Linuxcnc. Get used to using it and getting your head around the FreeCad Path workbench.

Whilst it is possible to convert, that money would be better spent on replacing broken endmills and the like.

I'm using the 20.2 version of Freecad and apart from the obvious issue, the topological naming issue, I can't say that there is any bugs that would cause me to revert. I've used it to design & machine the bits & bobs I've required to convert my Myford FrankenLathe to cnc.
  • timgineer
  • timgineer's Avatar
31 Jul 2024 01:31
Newbie with config questions was created by timgineer

Newbie with config questions

Category: General LinuxCNC Questions

Hello,

I've recently purchased a desktop little CNCTOPBAOS 1610 Pro Desktop CNC router . This thing is smaller than I had expected. But it was cheap enough to get my feet wet. So I went ahead and installed LinuxCNC on a Raspi and have it connected to the device. I found another post stating that this device has a GRBL driver already. So at this point, could I then just use my OctoPi raspi than runs my Ender3 to send gcode to the 1610? Should I bother going down the road of converting my CNC router to use LinuxCNC?

My main software that I intend on using for this is FreeCAD. I have done several drawings and models using FreeCAD, so I'm at least familiar with the software (Although, because of some bug with the newer versions, I'm stuck with v0.19). I guess the first thing to do is to setup a couple little tests just see the thing running. I figured some silly text on a wood block outta kick it off. Is it possible to send gcode to LinuxCNC and it just upload it to the device? Can I use LinuxCNC to calibrate the device?

Any other tips and tricks for a newbie? I talked to a friend that does this professionally over seas and he pointed out that I need some different end mills. So I snagged these , but it looks like I still need to add them to the path workbench for FreeCAD.

Thinking about it, starting with 3d printing, I was kind of spoiled because everything is basically ready. Just level the bed and you're off to the races. Ah well... To make nicer things, ya gotta get a little headier, I suppose.
  • Freedo
  • Freedo
31 Jul 2024 01:16
Replied by Freedo on topic Problems with Lichuan Ethercat servo drive

Problems with Lichuan Ethercat servo drive

Category: EtherCAT

Hi everyone. I tried downloading Robbbbbb's config but I didn't have any luck. I have tried following the 2 pinned guides as well as all the steps posted in this thread, but I can't seem to get anywhere. I just have a single lichuan servo and the EK1100.

One thing I noticed is that
ethercat state -p0 PREOP
changes the state of my Beckoff EK1100 instead of the servo drive. By changing p0 to p1, I can change the state of the servo drive to init (1ry) and preop(2ry) but nothing else. I tried changing some zeros to ones in Rob's config but it didn't work. 

I have also heard people staying they did stuff using twin cat, but I downloaded it and did some quick googling but I didn't get anywhere. 

Is there something else it could be? Could I have missed a step 

Thank you in advance
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